This curation covers a wide range of robotic manipulation tasks.
#Gripper #Dexterous #Motion_Generation #Task_Planning #Grasp_Synthesis
Don't hesitate to leave issues or discussions to me if there are any corrections or errors.
| End Effectors | Arms |
|---|---|
| - Allegro Hand | - Franka |
| - DG-5F | - UR |
| - DLR Hand | |
| - Leap Hand |
2024
- 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations + 🅿
- ALPHA-α and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
- AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch + 🅿
- ASID: Active Exploration for System Identification in Robotic Manipulation
- AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries + 🅿
- Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning + 🅿
- Behavior Generation with Latent Actions + 🅿
- Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms
- CHG-DAgger: Interactive Imitation Learning with Human-Policy Cooperative Control
- Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation + 🅿
- DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation + 🅿
- DexDiffuser: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation + 🅿
- DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
- DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality + 🅿
- Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning + 🅿
- DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
- Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
- EgoMimic: Scaling Imitation Learning via Egocentric Video
- Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning
- Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics
- Flow Matching Imitation Learning for Multi-Support Manipulation + 🅿
- G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
- Grasp Multiple Objects with One Hand
- Grasping Diverse Objects with Simulated Humanoids + 🅿
- Instant Policy: In-Context Imitation Learning via Graph Diffusion + 🅿
- Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects + 🅿
- Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient
- Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
- LEGATO: Cross-Embodiment Imitation Using a Grasping Tool + 🅿
- Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation + 🅿
- METRA: Scalable Unsupervised RL with Metric-Aware Abstraction
- On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
- PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments + 🅿
- RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
- RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective + 🅿
- Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing + 🅿
- Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
- ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
- SkillTree: Explainable Skill-Based Deep Reinforcement Learning for Long-Horizon Control Tasks
- SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation + 🅿
- STEER: Flexible Robotic Manipulation via Dense Language Grounding
- TacEx: GelSight Tactile Simulation in Isaac Sim - Combining Soft-Body and Visuotactile Simulators
- TacSL: A Library for Visuotactile Sensor Simulation and Learning
- THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation + 🅿
- The Role of Action Abstractions in Robot Manipulation Learning and Sim-to-Real Transfer
- Towards Tight Convex Relaxations for Contact-Rich Manipulation + 🅿
- Twisting Lids Off with Two Hands
- Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation + 🅿
- VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation
- VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation
- VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding + 🅿
- WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making
2023
- AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System + 🅿
- General In-Hand Object Rotation with Vision and Touch
- Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints + 🅿
- IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality + 🅿
- Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
- Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies
- Rotating without Seeing: Towards In-hand Dexterity through Touch + 🅿
- Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors
- UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning + 🅿
- Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes
2022
2021
- A System for General In-Hand Object Re-Orientation
- OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
- ReSkin: versatile, replaceable, lasting tactile skins + 🅿
- STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
- Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry + 🅿
2020
- A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects + 🅿
- Cable Manipulation with a Tactile-Reactive Gripper + 🅿
- DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
- TACTO: A Fast, Flexible and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
