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 | Kossow |
| Leap Hand | Ufactory |
| Shadow hand | Kinova |
2025
- DexMOTS: Learning Contact-Rich Dexterous Manipulation in an Object-Centric Task Space with Differentiable Simulation + ➕
- DexterityGen: Foundation Controller for Unprecedented Dexterity
- Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
- Learning to Transfer Human Hand Skills for Robot Manipulations ➕
- Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
- MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress
- Rethinking Latent Representations in Behavior Cloning: An Information Bottleneck Approach for Robot Manipulation
- When Pre-trained Visual Representations Fall Short: Limitations in Visuo-Motor Robot Learning
- ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Picking
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
- ClevrSkills: Compositional Language and Visual Reasoning in Robotics
- 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 ➕
- GraspXL: Generating Grasping Motions for Diverse Objects at Scale ➕
- Hand-Object Interaction Pretraining from Videos ➕
- Instant Policy: In-Context Imitation Learning via Graph Diffusion ➕
- Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
- 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 ➕
- Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets ➕
- 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 Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands
- 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 ➕
- Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions
- DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics + ➕
- 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
- Precise and realistic grasping and manipulation in Virtual Reality without force feedback
- TACTO: A Fast, Flexible and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
