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Robot Manipulation

Papers

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Showing 1–50 of 430 papers

TitleStatusHype
OpenVLA: An Open-Source Vision-Language-Action ModelCode9
On the Vulnerability of LLM/VLM-Controlled RoboticsCode7
Evaluating Real-World Robot Manipulation Policies in SimulationCode5
Magma: A Foundation Model for Multimodal AI AgentsCode5
UniVLA: Learning to Act Anywhere with Task-centric Latent ActionsCode5
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D RepresentationsCode5
Video Prediction Policy: A Generalist Robot Policy with Predictive Visual RepresentationsCode3
DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World KnowledgeCode3
OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic ManipulationCode3
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot LearningCode3
Affordance-based Robot Manipulation with Flow MatchingCode3
3D Diffuser Actor: Policy Diffusion with 3D Scene RepresentationsCode3
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from VideosCode3
3D Diffuser Actor: Policy Diffusion with 3D Scene RepresentationsCode3
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object ManipulationCode3
RT-1: Robotics Transformer for Real-World Control at ScaleCode3
RLVR-World: Training World Models with Reinforcement LearningCode3
Towards Generalist Robot Policies: What Matters in Building Vision-Language-Action ModelsCode3
Latent Action Pretraining from VideosCode3
RVT-2: Learning Precise Manipulation from Few DemonstrationsCode3
GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal-Conditioned PolicyCode2
Emma-X: An Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial ReasoningCode2
What Matters in Learning from Offline Human Demonstrations for Robot ManipulationCode2
Equivariant Diffusion PolicyCode2
Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action PolicyCode2
Generative Image as Action ModelsCode2
Unleashing Large-Scale Video Generative Pre-training for Visual Robot ManipulationCode2
VIMA: General Robot Manipulation with Multimodal PromptsCode2
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language ModelsCode2
Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask LearningCode2
Streaming Diffusion Policy: Fast Policy Synthesis with Variable Noise Diffusion ModelsCode2
DeeR-VLA: Dynamic Inference of Multimodal Large Language Models for Efficient Robot ExecutionCode2
RVT: Robotic View Transformer for 3D Object ManipulationCode2
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic ControlCode2
Autoregressive Action Sequence Learning for Robotic ManipulationCode2
Robot Trajectron: Trajectory Prediction-based Shared Control for Robot ManipulationCode2
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D PolicyCode2
AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real WorldCode2
Perceiver-Actor: A Multi-Task Transformer for Robotic ManipulationCode2
Act3D: 3D Feature Field Transformers for Multi-Task Robotic ManipulationCode2
RoboUniView: Visual-Language Model with Unified View Representation for Robotic ManipulationCode2
R3M: A Universal Visual Representation for Robot ManipulationCode2
Moto: Latent Motion Token as the Bridging Language for Learning Robot Manipulation from VideosCode2
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex ManipulationCode2
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusionCode2
An Embodied Generalist Agent in 3D WorldCode2
ABNet: Attention BarrierNet for Safe and Scalable Robot LearningCode1
DrS: Learning Reusable Dense Rewards for Multi-Stage TasksCode1
GUARD: A Safe Reinforcement Learning BenchmarkCode1
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D ModelsCode1
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All datasetsCALVINRLBenchSimplerEnv-Google RobotMimicGenSimplerEnv-Widow X

Benchmark Results

#ModelMetricClaimedVerifiedStatus
1DreamVLAavg. sequence length (D to D)4.44—Unverified
2VPPavg. sequence length (D to D)4.29—Unverified
3RoboVLMsavg. sequence length (D to D)4.25—Unverified
4Openhelixavg. sequence length (D to D)4.08—Unverified
5UP-VLAavg. sequence length (D to D)4.08—Unverified
6GR-MGavg. sequence length (D to D)4.04—Unverified
7MoDEavg. sequence length (D to D)4.01—Unverified
8RoboUniViewavg. sequence length (D to D)3.86—Unverified
9UniVLAavg. sequence length (D to D)3.8—Unverified
10RoboDualavg. sequence length (D to D)3.66—Unverified
#ModelMetricClaimedVerifiedStatus
1EquActSucc. Rate (18 tasks, 100 demo/task)89.4—Unverified
2SAM2ActSucc. Rate (18 tasks, 100 demo/task)86.8—Unverified
3ARP+Succ. Rate (18 tasks, 100 demo/task)84.9—Unverified
43D-LOTUSSucc. Rate (18 tasks, 100 demo/task)83.1—Unverified
5RVT-2Succ. Rate (18 tasks, 100 demo/task)81.4—Unverified
63D Diffuser ActorSucc. Rate (18 tasks, 100 demo/task)81.3—Unverified
7Mini DiffuserSucc. Rate (18 tasks, 100 demo/task)77.6—Unverified
8SAM-ESucc. Rate (18 tasks, 100 demo/task)70.6—Unverified
9Auto-λSucc. Rate (10 tasks, 100 demos/task)69.3—Unverified
10Act3DSucc. Rate (18 tasks, 100 demo/task)65—Unverified
#ModelMetricClaimedVerifiedStatus
1SoFarVisual Matching0.75—Unverified
2SpatialVLAVisual Matching0.72—Unverified
3Dita-300MVisual Matching0.69—Unverified
4RT-2-XVisual Matching0.61—Unverified
5RoboVLMVisual Matching0.56—Unverified
6RT-1-XVisual Matching0.53—Unverified
7TraceVLAVisual Matching0.46—Unverified
8OpenVLAVisual Matching0.28—Unverified
9Octo-BaseVisual Matching0.17—Unverified
#ModelMetricClaimedVerifiedStatus
1SDPSucc. Rate (12 tasks, 100 demo/task)76—Unverified
2EquiDiff (Voxel)Succ. Rate (12 tasks, 100 demo/task)63.9—Unverified
3EquiDiff (Image)Succ. Rate (12 tasks, 100 demo/task)53.7—Unverified
4DP (Evaluated in EquiDiff)Succ. Rate (12 tasks, 100 demo/task)42—Unverified
5DP3 (Evaluated in EquiDiff)Succ. Rate (12 tasks, 100 demo/task)23.9—Unverified
6BC RNN (Evaluated in EquiDiff)Succ. Rate (12 tasks, 100 demo/task)22.9—Unverified
7ACT (Evaluated in EquiDiff)Succ. Rate (12 tasks, 100 demo/task)21.3—Unverified
#ModelMetricClaimedVerifiedStatus
1SoFarAverage0.58—Unverified
2SpatialVLAAverage0.34—Unverified
3Octo-SmallAverage0.3—Unverified
4Octo-BaseAverage0.16—Unverified
5RoboVLMAverage0.14—Unverified
6RT-1-XAverage0.01—Unverified
7OpenVLAAverage0.01—Unverified