Robot-Learning-Reading

Overview

• Robot-Learning-Reading
  • Overview
  • Surveys
  • Diffusion Model
    • Diffuser
    • Manipulation
  • Planning
    • Frameworks
    • Learning
    • LLM
  • Manipulation
    • Dynamics & Kinematics
    • Skills
    • Online Learning
    • Imitation Learning
    • Tool Use
  • Observation Representation
    • Scene Understanding
    • Intuitive Physics
  • Action Representation
    • Key Point Descriptions
  • Deep Learning
    • Theory

Surveys

• "Understanding the planning of LLM agents: A survey", arXiv, Feb 2024. [Paper]
• "Integrated Task and Motion Planning", arXiv, Oct 2020. [Paper]
• "A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches", arXiv, Apr 2024. [Paper]
• Robot Tool Use: "Learning, Transferring, Reasoning, and Applying Knowledge about Robots Using Human Tools". Yale, 2022. [Paper]
• "A Survey on Machine Learning Approaches for Modelling Intuitive Physics", arXiv, Apr 2022. [Paper]

Diffusion Model

Diffuser

• Diffusion Forcing: "Next-token Prediction Meets Full-Sequence Diffusion", arXiv, July 2024. [Website] [Paper] [Code]

Manipulation

• Generative Skill Chaining: "Long-Horizon Skill Planning with Diffusion Models", Conference on Robot Learning (CoRL), 2023. [Website] [Paper] [Code]
• POCO: "Policy Composition From and For Heterogeneous Robot Learning", , Robotic Science and Systems (RSS), 2024. [Website] [Paper]
• SE(3)-DiffusionFields: "Learning smooth cost functions for joint grasp and motion optimization through diffusion", International Conference on Robotics and Automation (ICRA), 2023. [Website] [Paper]

Planning

Frameworks

• PDSketch: "Integrated Domain Programming, Learning, and Planning", NeurIPS, 2022. [Website] [Paper] [Code]

Learning

• "Learning Reusable Manipulation Strategies", Conference on Robot Learning (CoRL), 2023. [Paper]
• "Large Language Models as General Pattern Machines", arXiv, Oct 2023. [Website] [Paper]
• NOD-TAMP: "Generalizable Long-Horizon Planning with Neural Object Descriptors", arXiv, Nov 2023. [Website] [Paper]
• PIGINet: "A Transformer-based Plan Feasibility Predictor for Robotic Rearrangement in Geometrically Complex Environments", Robotic Science and Systems (RSS), 2023. [Website] [Paper] [Code]

LLM

• FLAIR: "Feeding via Long-horizon AcquIsition of Realistic dishes", Robotic Science and Systems (RSS), 2024. [Website] [Paper]
• DAG-Plan: "Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning", arXiv, June 2024. [Paper]

Manipulation

Dynamics & Kinematics

• VIRDO: "Visio-tactile Implicit Representations of Deformable Objects", International Conference on Robotics and Automation (ICRA), 2022. [Paper] [Code]

Skills

• EquiBot: "SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning", arXiv, July 2024. [Website] [Paper]
• RoboPack: "Learning Tactile-Informed Dynamics Models for Dense Packing", Robotic Science and Systems (RSS), 2024. [Website] [Paper]
• DP3: "Generalizable Visuomotor Policy Learning via Simple 3D Representations", Robotic Science and Systems (RSS), 2024. [Website] [Paper] [code]
• "Adaptive Mobile Manipulation for Articulated Objects In the Open World", arXiv, Jan 2024. [Website] [Paper]

Online Learning

• Practice Makes Perfect: "Planning to Learn Skill Parameter Policies", Robotic Science and Systems (RSS), 2024. [Website] [Paper] [Code]

Imitation Learning

• CLIPort: "What and Where Pathways for Robotic Manipulation", Conference on Robot Learning (CoRL), 2021. [Website] [Paper] [Code]
• PerAct: "Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation", Conference on Robot Learning (CoRL), 2022. [Website] [Paper] [Code] [Talk]
• ChainedDiffuser: "Unifying Trajectory Diffusion and Keypose Prediction for Robotic Manipulation", Conference on Robot Learning (CoRL), 2023. [Website] [Paper] [Code]
• ACT: "Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware", Robotic Science and Systems (RSS), 2023. [Website] [Paper]
• Act3D: "3D Feature Field Transformers for Multi-Task Robotic Manipulation", Conference on Robot Learning (CoRL), 2023. [Website] [Paper] [Code]
• Genima: "Generative Image as Action Models", arXiv, July 2024. [Website] [Paper] [Code]

Tool Use

Observation Representation

Scene Understanding

• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models, Conference on Robot Learning (CoRL), 2023. [Website] [Paper] [Code]
• Clio: "Real-time Task-Driven Open-Set 3D Scene Graphs", arXiv, Apr 2024. [Paper] [Code]
• VLFM: "Vision-Language Frontier Maps for Zero-Shot Semantic Navigation", International Conference on Robotics and Automation (ICRA), 2024. [Website] [Paper] [Code]

Intuitive Physics

Action Representation

Key Point Descriptions

• Affordance-Centric Policy Decomposition: "Generalisable and Sample Efficient Robot Policy Learning for Multi-Object, Long-Horizon Manipulation", Robotic Science and Systems (RSS), 2024. [Website] [Paper]
• Neural Descriptor Fields: "SE(3)-Equivariant Object Representations for Manipulation", arViv, Dec 2021. [Paper] [Website]
• D3Fields: "Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation", arXiv, Oct 2023. [Website] [Paper] [Code]
• kPAM: "KeyPoint Affordances for Category-Level Robotic Manipulation", arXiv, Oct 2019. [Paper]
• Dense Object Nets: "Learning Dense Visual Object Descriptors By and For Robotic Manipulation", arXiv, Sep 2018. [Paper]
• DINO-ViT: "Deep ViT Features as Dense Visual Descriptors", arXiv, Oct 2022. [Paper]

Deep Learning

Theory

• Vector Neurons: "A General Framework for SO(3)-Equivariant Networks", arXiv, Apr 2021. [Paper]