• Robot Library

• Camera-to-Robot Pose Estimation

• Object-to-Robot Pose Estimation

• Robot Learning

• Robot Planning

• Physical Human-Robot Interaction

• Robot Painter

• Robot Manipulation

• Robot Grasping

• awesome-robot-groups

[CVPR 2023] PyPose: A Library for Robot Learning with Physics-based Optimization

[arxiv] [project] [docs] [tutorial] [code]

[open tool] Robot Calibration

[github]

[open tool] easy_handeye: automated, hardware-independent Hand-Eye Calibration

[github]

[Movelt] MoveIt Calibration

[docs] [github]

[IJATM 2022] An overview of hand-eye calibration

Jianfeng Jiang, Xiao Luo, Qingsheng Luo, Lijun Qiao, Minghao Li

[paper] [survey]

[arxiv 2023] RegHEC: Hand-Eye Calibration via Simultaneous Multi-view Point Clouds Registration of Arbitrary Object

Shiyu Xing, Fengshui Jing, Min Tan

[arxiv] [code]

[ICRA 2020] Camera-to-Robot Pose Estimation from a Single Image

Timothy E. Lee, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, Stan Birchfield

[arxiv] [project] [code] [NVIDIA, CMU]

[CVPR 2023] Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation From Image Sequence

Yang Tian, Jiyao Zhang, Zekai Yin, Hao Dong

[paper] [project] [code soon] [CFCS, Peking University]

[CVPR 2023] Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer

Jingpei Lu, Florian Richter, Michael C. Yip

[arxiv] [code]

[CoRL 2018] Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield

[arxiv] [project] [code] [NVlabs]

[IROS 2020] Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield

[arxiv] [code] [NVlabs]

🔥[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield

[arxiv] [project] [code soon] [NVIDIA]

🔥[ECCV 2022] ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization

Muhammad Zubair Irshad, Sergey Zakharov, Rares Ambrus, Thomas Kollar, Zsolt Kira, Adrien Gaidon

[arxiv] [project] [code]

[ICRA 2023] NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields

Arunkumar Byravan, Jan Humplik*, Leonard Hasenclever*, Arthur Brussee*, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic and Nicolas Heess *

[arxiv] [project] [DeepMind]

[ICRA 2023] Grounding Language with Visual Affordances over Unstructured Data

Oier Mees, Jessica Borja-Diaz, Wolfram Burgard

[arxiv] [project] [code: soon]

[ICRA 2023] Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

[arxiv] [code] [project] [Robotics at Google] [ICRA 2023 Outstanding Robot Learning Paper]

🔥 [RA-L 2020] RLBench: The Robot Learning Benchmark & Learning Environment

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison

[arxiv] [code] [project] [Dyson Robotics Lab, Imperial College London]

[T-RO 2021] Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation

[arxiv [video]

[ICRA 2022] Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks

Soroush Nasiriany; Huihan Liu; Yuke Zhu

[paper] [project] [code] [ICRA 2022 Outstanding Learning Paper]

[ICLR 2023] From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data

[arxiv] [project] [code]

[ICRA 2022] SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning

Jun Lv; Qiaojun Yu; Lin Shao; Wenhai Liu; Wenqiang Xu; Cewu Lu

[paper] [project]

[ICRA 2023] Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators

Minsung Yoon, Mincheul Kang, Daehyung Park and Sung-Eui Yoon

[paper] [code] [project] [KAIST] [ICRA 2023 Outstanding Planning Paper]

[RA-L 2020] Object-Centric Task and Motion Planning in Dynamic Environments

Toki Migimatsu, Jeannette Bohg

[arxiv] [code] [project]

[ICRA 2022] Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments

Weiqiao Han, Ashkan Jasour, Brian Williams

[arxiv] [code] [MIT] [ICRA 2022 Outstanding Planning Paper]

[ICRA 2023] Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method

Alvin Shek, Bo Ying Su, Rui Chen, Changliu Liu

[arxiv] [project] [code] [CMU] [ICRA 2023 Outstanding Physical Human-Robot Interaction Paper]

[ICRA 2023] FRIDA: A Collaborative Robot Painter with a Differentiable, Real2Sim2Real Planning Environment

Peter Schaldenbrand, James McCann, Jean Oh

[arxiv] [project] [code] [The Robotics Institute, Carnegie Mellon University]

[MIT Course] Robotic Manipulation Perception, Planning, and Control

Russ Tedrake

[website]

[CVPR 2022] Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation

Stephen James, Kentaro Wada, Tristan Laidlow, Andrew J. Davison

[paper] [project] [code] [Dyson Robotics Lab, Imperial College London]

[ICML 2023] VIMA: General Robot Manipulation with Multimodal Prompts

Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, Linxi Fan

[arxiv] [project] [code] [Stanford, Li Fei-Fei]

🔥 [CVPR 2022] Coarse-to-Fine Q-attention: Efficient Learning for Vision-based Robotic Manipulation via Discretisation

Stephen James Kentaro Wada Tristan Laidlow Andrew J. Davison

[paper] [project] [code] [Dyson Robotics Lab, Imperial College London]

[RSS 2021] Active Learning of Abstract Plan Feasibility

Michael Noseworthy, Caris Moses, Isaiah Brand, Sebastian Castro, Leslie Kaelbling, Tomás Lozano-Pérez, Nicholas Roy

[arxiv] [code] [videos] [MIT,Robust Robotics Group]

[CoRL 2020] Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer

[arxiv] [project] [code]

🔥 [CoRL 2022] RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments

haoyu Xiong, Haoyuan Fu, Jieyi Zhang, Chen Bao, Qiang Zhang, Yongxi Huang, Wenqiang Xu, Animesh Garg, Cewu Lu

[paper] [project] [code soon]

[Survey 2022] Robotic Grasping from Classical to Modern: A Survey

Hanbo Zhang, Jian Tang, Shiguang Sun, Xuguang Lan

[arxiv] [Xian JTU]

🔥 [ICRA 2022] Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling

Seunghyeok Back, Joosoon Lee, Taewon Kim, Sangjun Noh, Raeyoung Kang, Seongho Bak, Kyoobin Lee

[arxiv] [project] [code]

🔥[T-RO 2023] AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains

Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, Cewu Lu

[arxiv] [project] [code]

[CVPR 2023] Learning Human-to-Robot Handovers From Point Clouds

Sammy Christen, Wei Yang, Claudia Pérez-D’Arpino, Otmar Hilliges, Dieter Fox, Yu-Wei Chao

[paper] [project] [code soon]

[ICCV 2021] Graspness Discovery in Clutters for Fast and Accurate Grasp Detection

Chenxi Wang, Hao-Shu Fang, Minghao Gou, Hongjie Fang, Jin Gao, Cewu Lu

[paper] [code]

[CVPR 2023] Visual-Tactile Sensing for In-Hand Object Reconstruction

Wenqiang Xu, Zhenjun Yu, Han Xue, Ruolin Ye, Siqiong Yao, Cewu Lu

[arxiv] [project] [code]

🔥 [ICRA 2022] ShapeMap 3-D: Efficient shape mapping through dense touch and vision

Sudharshan Suresh Zilin Si Joshua G. Mangelson Wenzhen Yuan Michael Kaess

[arxiv] [code] [project] [Robotics Institute, CMU]

[T-RO 2023] Human to Robot Hand Motion Mapping Methods: Review and Classification

[paper]

• The Robotics Institute, Carnegie Mellon University

• Dyson Robotics Lab, Imperial College London

• MIT MCube Lab

• MIT Robotics

• MIT, Robust Robotics Group]

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