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Insights towards Sim2Real Contact-Rich Manipulation

Michael Noseworthy, Iretiayo Akinola, Yashraj Narang, Fabio Ramos, Lucas Manuelli, Ankur Handa, Dieter Fox

Learning and Retrieval from Prior Data for Skill-based Imitation Learning

Soroush Nasiriany*, Tian Gao, Ajay Mandlekar, Yuke Zhu

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

MegaPose: 6D Pose Estimationof Novel Objects via Render & Compare

Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathie Aubry, Dieter Fox, Josef Sivic

MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge

Jim Fan, Guanzhi Wang, Yunfan Jiang, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu, Anima Anandkumar.

MoCoDA: Model-based Counterfactual Data Augmentation

Silviu Pitis, Elliot Creager, Ajay Mandlekar, Animesh Garg

Motion Policy Networks

Adam Fishman, Adithyavairavan Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox

Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration

Mandy Xie, Karl Van Wyk, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan Ratliff

Non-deep Networks

Ankit Goyal, Alexey Bochkovskiy, Jia Deng, Vladlen Koltun

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox