Self-Supervised Correspondence in Visuomotor Policy Learning

Pete Florence, Lucas Manuelli, Russ Tedrake

Type: Article

Publication Date: 2019-11-28

Citations: 86

DOI: https://doi.org/10.1109/lra.2019.2956365

View Publication

Locations

IEEE Robotics and Automation Letters - View
arXiv (Cornell University) - View - PDF

Similar Works

Action	Title	Year	Authors
+	Self-Supervised Correspondence in Visuomotor Policy Learning	2019	Pete Florence Lucas Manuelli Russ Tedrake
+	Self-Supervised Correspondence in Visuomotor Policy Learning	2019	Pete Florence Lucas Manuelli Russ Tedrake
+ PDF Chat	DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control	2024	Zichen Jeff Cui Haizhou Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto
+	Reinforcement and Imitation Learning for Diverse Visuomotor Skills	2018	Yuke Zhu Ziyu Wang Josh Merel Andrei A. Rusu Tom Erez Serkan Cabi Saran Tunyasuvunakool János Kramár Raia Hadsell Nando de Freitas
+	Reinforcement and Imitation Learning for Diverse Visuomotor Skills	2018	Yuke Zhu Ziyu Wang Josh Merel Andrei A. Rusu Tom Erez Serkan Cabi Saran Tunyasuvunakool János Kramár Raia Hadsell Nando de Freitas
+	VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors	2022	Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu
+	Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning	2020	Lucas Manuelli Yunzhu Li Pete Florence Russ Tedrake
+	An Efficient Generalizable Framework for Visuomotor Policies via Control-aware Augmentation and Privilege-guided Distillation	2024	Yinuo Zhao Kun Wu Tianjiao Yi Zhiyuan Xu Xiaozhu Ju Zhengping Che Qinru Qiu Erwu Liu Jian Tang
+ PDF Chat	Adversarial Feature Training for Generalizable Robotic Visuomotor Control	2020	Xi Chen Ali Ghadirzadeh Mårten Björkman Patric Jensfelt
+	Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control	2021	Chen Wang Rui Wang Ajay Mandlekar Li Fei-Fei Silvio Savarese Danfei Xu
+ PDF Chat	Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies	2024	Pingcheng Jian Easop Lee Zachary I. Bell Michael M. Zavlanos Boyuan Chen
+	For Pre-Trained Vision Models in Motor Control, Not All Policy Learning Methods are Created Equal	2023	Yingdong Hu Renhao Wang Li Erran Li Yang Gao
+ PDF Chat	Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning	2024	Zhecheng Yuan Tianming Wei Shuiqi Cheng Gu Zhang Yuanpei Chen Huazhe Xu
+ PDF Chat	Adversarial discriminative sim-to-real transfer of visuo-motor policies	2019	Fangyi Zhang Jürgen Leitner Zongyuan Ge Michael Milford Peter Corke
+	Adversarial Discriminative Sim-to-real Transfer of Visuo-motor Policies	2017	Fangyi Zhang Jürgen Leitner Zongyuan Ge Michael Milford Peter Corke
+	RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer	2020	Daniel E. Ho Kanishka Rao Zhuo Xu Eric Jang Mohi Khansari Yunfei Bai
+	Visual Reinforcement Learning with Self-Supervised 3D Representations	2022	Yanjie Ze Nicklas Hansen Yinbo Chen Mohit Jain Xiaolong Wang
+ PDF Chat	Maximizing Alignment with Minimal Feedback: Efficiently Learning Rewards for Visuomotor Robot Policy Alignment	2024	Ran Tian Yilin Wu Chenfeng Xu Masayoshi Tomizuka Jitendra Malik Andrea Bajcsy
+ PDF Chat	Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control	2021	Chen Wang Rui Wang Ajay Mandlekar Li Fei-Fei Silvio Savarese Danfei Xu
+ PDF Chat	Learning Category-Level Generalizable Object Manipulation Policy Via Generative Adversarial Self-Imitation Learning From Demonstrations	2022	Hao Shen Weikang Wan He Wang

Works That Cite This (68)

Action	Title	Year	Authors
+	Untangling Dense Knots by Learning Task-Relevant Keypoints.	2020	Jennifer Grannen Priya Sundaresan Brijen Thananjeyan Jeffrey Ichnowski Ashwin Balakrishna Minho Hwang Vainavi Viswanath Michael Laskey Joseph E. Gonzalez Ken Goldberg
+ PDF Chat	K-VIL: Keypoints-Based Visual Imitation Learning	2023	Jianfeng Gao Zhi Tao Noémie Jaquier Tamim Asfour
+ PDF Chat	Visual Task Progress Estimation with Appearance Invariant Embeddings for Robot Control and Planning	2020	Guilherme Maeda Joni Väätäinen Hironori Yoshida
+	What Matters in Learning from Offline Human Demonstrations for Robot Manipulation	2021	Ajay Mandlekar Danfei Xu Josiah Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín
+	Diffusion Policy: Visuomotor Policy Learning via Action Diffusion	2023	Cheng Chi Siyuan Feng Yilun Du Zhenjia Xu Eric Cousineau Benjamin Burchfiel Shuran Song
+ PDF Chat	3D Implicit Transporter for Temporally Consistent Keypoint Discovery	2023	Chengliang Zhong Yuhang Zheng Yupeng Zheng Hao Zhao Yi Li Xiaodong Mu Sheng Wang Pengfei Li Guyue Zhou Chao Yang
+	MELD: Meta-Reinforcement Learning from Images via Latent State Models	2020	Tony Z. Zhao Anusha Nagabandi Kate Rakelly Chelsea Finn Sergey Levine
+ PDF Chat	The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation	2023	Jan Ole von Hartz Eugenio Chisari Tim Welschehold Wolfram Burgard Joschka Boedecker Abhinav Valada
+ PDF Chat	A Geometric Perspective on Visual Imitation Learning	2020	Jun Jin Laura Petrich Masood Dehghan Martin Jägersand
+ PDF Chat	NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis	2023	Allan Zhou Moo Jin Kim Lirui Wang Pete Florence Chelsea Finn

Works Cited by This (34)

Action	Title	Year	Authors
+	A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning	2010	Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell
+	End-to-End Training of Deep Visuomotor Policies	2015	Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel
+ PDF Chat	Supersizing self-supervision: Learning to grasp from 50K tries and 700 robot hours	2016	Lerrel Pinto Abhinav Gupta
+	Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization	2016	Chelsea Finn Sergey Levine Pieter Abbeel
+ PDF Chat	Path integral guided policy search	2017	Yevgen Chebotar Mrinal Kalakrishnan Ali Abdullah Yahya Adrian Li Stefan Schaal Sergey Levine
+ PDF Chat	Collective robot reinforcement learning with distributed asynchronous guided policy search	2017	Ali Abdullah Yahya Adrian Li Mrinal Kalakrishnan Yevgen Chebotar Sergey Levine
+	Unsupervised Perceptual Rewards for Imitation Learning	2017	Pierre Sermanet Kelvin Xu Sergey Levine
+ PDF Chat	Deep predictive policy training using reinforcement learning	2017	Ali Ghadirzadeh Atsuto Maki Danica Kragić Mårten Björkman
+	Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task	2017	Stephen James Andrew J. Davison Edward Johns
+	One-Shot Visual Imitation Learning via Meta-Learning	2017	Chelsea Finn Tianhe Yu Tianhao Zhang Pieter Abbeel Sergey Levine