Embodied AI论文推荐

Computer Vision

2D Vision

• (NeurIPS 2015) Spatial Transformer Networks
  • Blog: CSDN STN 详解

3D Vision

Gaussian Splatting

• (arxiv 2023.12) DreamGaussian4D: Generative 4D Gaussian Splatting

Object Generation

• (arxiv 2023 12.) Repaint123: Fast and High-quality One Image to 3D Generation with Progressive Controllable 2D Repainting
• (arxiv 2024 01.) AGG: Amortized Generative 3D Gaussians for Single Image to 3D
• (arxiv 2024 01.) SM3: Self-Supervised Multi-task Modeling with Multi-view 2D Images for Articulated Objects

Neural Radience Fields

Novel View Synthesis

Scene Generation

• (CVPR 2023) Holodeck: Language Guided Generation of 3D Embodied AI Environments Webpage
  • Summary

Learning

Visual Reinforcement Learning

Robotics

Robotic Manipulation

Bi Manipulation

• (arxiv 2024 2. ) Bi-ACT: Bilateral Control-Based Imitation Learning Via Action Chunking With Transformer Webpage

3D Manipulation

• (arxiv 2024 1.) RVT: Robotic View Transformer for 3D Object Manipulation
• (CoRL 2022) Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
  • PerAct, a language-conditioned behavior-cloning agent for multi-task 6-DoF manipulation. PerAct encodes language goals and RGB-D voxel observations with a Perceiver Transformer, and outputs discretized actions by “detecting the next best voxel action”.

Mobile Manipulation

• (arxiv 2024 1. ) Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Pre-training with Large Model

• (arxiv 2023) Unleashing Large-Scale Video Generative Pre-training
  for Visual Robot Manipulation
  
  • We introduce GR-1, a straightforward GPT-style model designed for multi-task language conditioned visual robot manipulation.

RL+robotics

• (arxiv 2023) Mastering Stacking of Diverse Shapes with Large-Scale Iterative Reinforcement Learning on Real Robots
  • main take-aways: 1. never discard any data; 2. use multi-task training to stabilize offline RL; 3. perform iterative training phases to hill-climb your performance.

Dexterous Hand Manipulation

• (arxiv 2023) Neural feels with neural fields:
  Visuo-tactile perception for in-hand manipulation
  • TLDR
• (CoRL 2023) General In-Hand Object Rotation with Vision and Touch
  • TLDR main takeaways:

Sim2real

• (IEEE 2023) A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction Webpage

Human Motion

• (arxiv 2023 12. ) PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interaction
• (arxiv 2023 12. ) Perpetual Humanoid Control for Real-time Simulated Avatars Webpage

Benchmark

• (arxiv 2023 Dec.) Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator
• (arxiv 2023 12.) EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI

Utilize LLM

• (arxiv 2023 12. ) ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation

  • Takeaways: 1. Learning-based robot manipulation, trained on a limited category within a simulator struggles to achieve generalizability. 2. We introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models to enhance the generalization of manipulation. 3. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. 4. Moreover, in real world, we design a test-time adaptation (TTA) strategy to enable the model better adapt to the real-world scene.

• (arxiv 2024 2.) PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs Webpage

Utilize Diffusion

• (arxiv 2024 01.) Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models
  

Survey

• (arxiv 2023) Toward General-Purpose Robots via Foundation Models: A survey and Meta-Analysis
  • Blog: 微信公众号: CAAI认知系统与信息处理专委会

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