Awesome Manipulation

Key papers

• Learning Hand-eye Coordination For Robotic Grasping With Deep Learning And Large-scale Data Collection (2016)
  Sergey Levine, Peter Pastor, Alex Krizhevsky, et al.
  23.20
• Learning Dexterous In-hand Manipulation (2018)
  Openai, Marcin Andrychowicz, Bowen Baker, et al.
  22.57
• Graspness Discovery In Clutters For Fast And Accurate Grasp Detection (2024)
  Chenxi Wang, Hao-Shu Fang, Minghao Gou, et al.
  21.63
• Closing The Loop For Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach (2018)
  Douglas Morrison, Peter Corke, Jürgen Leitner
  20.12
• Learning Complex Dexterous Manipulation With Deep Reinforcement Learning And Demonstrations (2017)
  Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, et al.
  19.85
• Diffusion Policy: Visuomotor Policy Learning Via Action Diffusion (2023)
  Cheng Chi, Zhenjia Xu, Siyuan Feng, et al.
  19.76
• Learning Joint Reconstruction Of Hands And Manipulated Objects (2019)
  Yana Hasson, Gül Varol, Dimitrios Tzionas, et al.
  19.73
• Antipodal Robotic Grasping Using Generative Residual Convolutional Neural Network (2019)
  Sulabh Kumra, Shirin Joshi, Ferat Sahin
  19.27
• Deep Visual Foresight For Planning Robot Motion (2016)
  Chelsea Finn, Sergey Levine
  19.03
• Pointnetgpd: Detecting Grasp Configurations From Point Sets (2018)
  Hongzhuo Liang, Xiaojian Ma, Shuang Li, et al.
  18.90
• Contact-graspnet: Efficient 6-dof Grasp Generation In Cluttered Scenes (2021)
  Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, et al.
  18.71
• More Than A Feeling: Learning To Grasp And Regrasp Using Vision And Touch (2018)
  Roberto Calandra, Andrew Owens, Dinesh Jayaraman, et al.
  18.49
• SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning (2025)
  Haozhan Li et al.
  18.40
• Efficient Learning Of Goal-oriented Push-grasping Synergy In Clutter (2021)
  Kechun Xu, Hongxiang Yu, Qianen Lai, et al.
  18.32
• Gendexgrasp: Generalizable Dexterous Grasping (2022)
  Puhao Li, Tengyu Liu, Yuyang Li, et al.
  18.02
• Regnet: Region-based Grasp Network For End-to-end Grasp Detection In Point Clouds (2020)
  Binglei Zhao, Hanbo Zhang, Xuguang Lan, et al.
  17.99
• Kernelized Movement Primitives (2017)
  Yanlong Huang, Leonel Rozo, João Silvério, et al.
  17.74
• A Unified MPC Framework For Whole-body Dynamic Locomotion And Manipulation (2021)
  Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, et al.
  17.66
• High Precision Grasp Pose Detection In Dense Clutter (2016)
  Marcus Gualtieri, Andreas Ten Pas, Kate Saenko, et al.
  17.55
• Fully Convolutional Grasp Detection Network With Oriented Anchor Box (2018)
  Xinwen Zhou, Xuguang Lan, Hanbo Zhang, et al.
  17.24
• Making Sense Of Vision And Touch: Learning Multimodal Representations For Contact-rich Tasks (2019)
  Michelle A. Lee, Yuke Zhu, Peter Zachares, et al.
  17.21
• Diffusion-based Generation, Optimization, And Planning In 3D Scenes (2023)
  Siyuan Huang, Zan Wang, Puhao Li, et al.
  16.93
• Automated Rendezvous & Docking Using 3D Vision (2022)
  Farhad Aghili
  16.91
• Text2motion: From Natural Language Instructions To Feasible Plans (2023)
  Kevin Lin, Christopher Agia, Toki Migimatsu, et al.
  16.90
• Deep Learning A Grasp Function For Grasping Under Gripper Pose Uncertainty (2016)
  Edward Johns, Stefan Leutenegger, Andrew J. Davison
  16.77
• 6-DOF Grasping For Target-driven Object Manipulation In Clutter (2019)
  Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, et al.
  16.67
• Efficient Heatmap-guided 6-dof Grasp Detection In Cluttered Scenes (2024)
  Siang Chen, Wei Tang, Pengwei Xie, et al.
  16.59
• Deep Reinforcement Learning For The Control Of Robotic Manipulation: A Focussed Mini-review (2021)
  Rongrong Liu, Florent Nageotte, Philippe Zanne, et al.
  16.55
• ARCTIC: A Dataset For Dexterous Bimanual Hand-object Manipulation (2022)
  Zicong Fan, Omid Taheri, Dimitrios Tzionas, et al.
  16.49
• Pddlstream: Integrating Symbolic Planners And Blackbox Samplers Via Optimistic Adaptive Planning (2018)
  Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
  16.47
• 3D Diffusion Policy: Generalizable Visuomotor Policy Learning Via Simple 3D Representations (2024)
  Yanjie Ze, Gu Zhang, Kangning Zhang, et al.
  16.45
• Grasping In The Wild:learning 6dof Closed-loop Grasping From Low-cost Demonstrations (2019)
  Shuran Song, Andy Zeng, Johnny Lee, et al.
  16.41
• Hand-object Contact Consistency Reasoning For Human Grasps Generation (2021)
  Hanwen Jiang, Shaowei Liu, Jiashun Wang, et al.
  16.39
• Robot Hand-eye Calibration Using Structure-from-motion (2023)
  Nicolas Andreff, Radu Horaud, Bernard Espiau
  16.36
• Universal Manipulation Interface: In-the-wild Robot Teaching Without In-the-wild Robots (2024)
  Cheng Chi, Zhenjia Xu, Chuer Pan, et al.
  16.12
• Actor-critic Reinforcement Learning For Control With Stability Guarantee (2020)
  Minghao Han, Lixian Zhang, Jun Wang, et al.
  16.10
• Self-supervised Learning Of State Estimation For Manipulating Deformable Linear Objects (2019)
  Mengyuan Yan, Yilin Zhu, Ning Jin, et al.
  16.05
• Learning Force Control For Contact-rich Manipulation Tasks With Rigid Position-controlled Robots (2020)
  Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, et al.
  16.03
• Vision-based Multi-task Manipulation For Inexpensive Robots Using End-to-end Learning From Demonstration (2017)
  Rouhollah Rahmatizadeh, Pooya Abolghasemi, Ladislau Bölöni, et al.
  15.98
• DIPN: Deep Interaction Prediction Network With Application To Clutter Removal (2020)
  Baichuan Huang, Shuai D. Han, Abdeslam Boularias, et al.
  15.83
• Learning Robotic Assembly From CAD (2018)
  Garrett Thomas, Melissa Chien, Aviv Tamar, et al.
  15.80
• Dynamic Locomotion For Passive-ankle Biped Robots And Humanoids Using Whole-body Locomotion Control (2019)
  D. Kim, S. Jorgensen, J. Lee, et al.
  15.73
• Task And Motion Planning With Large Language Models For Object Rearrangement (2023)
  Yan Ding, Xiaohan Zhang, Chris Paxton, et al.
  15.62
• Object-independent Human-to-robot Handovers Using Real Time Robotic Vision (2020)
  Patrick Rosenberger, Akansel Cosgun, Rhys Newbury, et al.
  15.46
• Learning Dexterous Manipulation For A Soft Robotic Hand From Human Demonstration (2016)
  Abhishek Gupta, Clemens Eppner, Sergey Levine, et al.
  15.43
• RBO Hand 3 -- A Platform For Soft Dexterous Manipulation (2022)
  Steffen Puhlmann, Jason Harris, Oliver Brock
  15.43
• GOAL: Generating 4D Whole-body Motion For Hand-object Grasping (2021)
  Omid Taheri, Vasileios Choutas, Michael J. Black, et al.
  15.40
• More Than A Million Ways To Be Pushed: A High-fidelity Experimental Dataset Of Planar Pushing (2016)
  Kuan-Ting Yu, Maria Bauza, Nima Fazeli, et al.
  15.34
• Se(3)-tracknet: Data-driven 6D Pose Tracking By Calibrating Image Residuals In Synthetic Domains (2020)
  Bowen Wen, Chaitanya Mitash, Baozhang Ren, et al.
  15.31
• Robust, Occlusion-aware Pose Estimation For Objects Grasped By Adaptive Hands (2020)
  Bowen Wen, Chaitanya Mitash, Sruthi Soorian, et al.
  15.26
• A Deep Learning Approach To Grasping The Invisible (2019)
  Yang Yang, Hengyue Liang, Changhyun Choi
  15.25
• A Framework For Robot Manipulation: Skill Formalism, Meta Learning And Adaptive Control (2018)
  Lars Johannsmeier, Malkin Gerchow, Sami Haddadin
  15.16
• Learning To Rearrange Deformable Cables, Fabrics, And Bags With Goal-conditioned Transporter Networks (2020)
  Daniel Seita, Pete Florence, Jonathan Tompson, et al.
  15.16
• Learning Variable Impedance Control Via Inverse Reinforcement Learning For Force-related Tasks (2021)
  Xiang Zhang, Liting Sun, Zhian Kuang, et al.
  15.16
• Solving The Robot-world Hand-eye(s) Calibration Problem With Iterative Methods (2019)
  Amy Tabb, Khalil M. Ahmad Yousef
  15.13
• Unidexgrasp: Universal Robotic Dexterous Grasping Via Learning Diverse Proposal Generation And Goal-conditioned Policy (2023)
  Yinzhen Xu, Weikang Wan, Jialiang Zhang, et al.
  15.03
• Ffrob: Leveraging Symbolic Planning For Efficient Task And Motion Planning (2016)
  Caelan Reed Garrett, Tomas Lozano-Perez, Leslie Pack Kaelbling
  15.00
• Manipulation By Feel: Touch-based Control With Deep Predictive Models (2019)
  Stephen Tian, Frederik Ebert, Dinesh Jayaraman, et al.
  14.97
• Dexgraspnet: A Large-scale Robotic Dexterous Grasp Dataset For General Objects Based On Simulation (2022)
  Ruicheng Wang, Jialiang Zhang, Jiayi Chen, et al.
  14.69
• Dynamic Cloth Manipulation With Deep Reinforcement Learning (2019)
  Rishabh Jangir, Guillem Alenya, Carme Torras
  14.66