相关论文: ManiSkill-HAB: A Benchmark for Low-Level Manipulat…

Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks, mostly composed of a suite of simulatable environments, are…

Object manipulation from 3D visual inputs poses many challenges on building generalizable perception and policy models. However, 3D assets in existing benchmarks mostly lack the diversity of 3D shapes that align with real-world intra-class…

We introduce Habitat 2.0 (H2.0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios. We make comprehensive contributions to all levels of the embodied AI stack - data,…

Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…

We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning. The DeepClaw benchmark aims at a mechatronics perspective of the robot learning problem, which features a minimum design of robot…

Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In…

Learning to execute long-horizon mobile manipulation tasks is crucial for advancing robotics in household and workplace settings. However, current approaches are typically data-inefficient, underscoring the need for improved models that…

We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entire task, prior work chains multiple stationary manipulation…

Reinforcement learning is applied to solve actual complex tasks from high-dimensional, sensory inputs. The last decade has developed a long list of reinforcement learning algorithms. Recent progress benefits from deep learning for raw…

In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally…

Standardized evaluation measures have aided in the progress of machine learning approaches in disciplines such as computer vision and machine translation. In this paper, we make the case that robotic learning would also benefit from…

We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our…

The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers,…

Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic…

Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks and lack features critical for scaling generalizable robotics…

Benchmarks are crucial for evaluating progress in robotics and embodied AI. However, a significant gap exists between benchmarks designed for high-level language instruction following, which often assume perfect low-level execution, and…

The advent of Chat-GPT has led to a surge of interest in Embodied AI. However, many existing Embodied AI models heavily rely on massive interactions with training environments, which may not be practical in real-world situations. To this…

Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks. However, the simplicity of tasks and the uniformity of environments in existing benchmarks restrict their effective…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Memory is crucial for enabling agents to tackle complex tasks with temporal and spatial dependencies. While many reinforcement learning (RL) algorithms incorporate memory, the field lacks a universal benchmark to assess an agent's memory…