Carnegie Mellon University · embodied AI & robot learning卡内基梅隆大学 · 具身智能与机器人学习

@misc{shaw2023leap,
  title = {{LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning}},
  author = {Kenneth Shaw and Ananye Agarwal and Deepak Pathak},
  year = {2023},
  eprint = {2309.06440},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2309.06440},
}

@misc{he2025asap,
  title = {{ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills}},
  author = {Tairan He and Jiawei Gao and Wenli Xiao and Yuanhang Zhang and Zi Wang and Jiashun Wang and Zhengyi Luo and Guanqi He and Nikhil Sobanbab and Chaoyi Pan and Zeji Yi and Guannan Qu and Kris Kitani and Jessica Hodgins and Linxi "Jim" Fan and Yuke Zhu and Changliu Liu and Guanya Shi},
  year = {2025},
  eprint = {2502.01143},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2502.01143},
}

@misc{xu2025dexumi,
  title = {{DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation}},
  author = {Mengda Xu and Han Zhang and Yifan Hou and Zhenjia Xu and Linxi Fan and Manuela Veloso and Shuran Song},
  year = {2025},
  eprint = {2505.21864},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2505.21864},
}

@misc{geng2025roboverse,
  title = {{RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning}},
  author = {Haoran Geng and Feishi Wang and Songlin Wei and Yuyang Li and Bangjun Wang and Boshi An and Charlie Tianyue Cheng and Haozhe Lou and Peihao Li and Yen-Jen Wang and Yutong Liang and Dylan Goetting and Chaoyi Xu and Haozhe Chen and Yuxi Qian and Yiran Geng and Jiageng Mao and Weikang Wan and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Jialiang Zhang and Chengyang Zhao and Haoran Lu and Yufei Ding and Ran Gong and Yuran Wang and Yuxuan Kuang and Ruihai Wu and Baoxiong Jia and Carlo Sferrazza and Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
  year = {2025},
  eprint = {2504.18904},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2504.18904},
}

@misc{he2024agile,
  title = {{Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion}},
  author = {Tairan He and Chong Zhang and Wenli Xiao and Guanqi He and Changliu Liu and Guanya Shi},
  year = {2024},
  eprint = {2401.17583},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2401.17583},
}

@misc{shaw2024bimanual,
  title = {{Bimanual Dexterity for Complex Tasks}},
  author = {Kenneth Shaw and Yulong Li and Jiahui Yang and Mohan Kumar Srirama and Ray Liu and Haoyu Xiong and Russell Mendonca and Deepak Pathak},
  year = {2024},
  eprint = {2411.13677},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2411.13677},
}

@misc{he2024hover,
  title = {{HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots}},
  author = {Tairan He and Wenli Xiao and Toru Lin and Zhengyi Luo and Zhenjia Xu and Zhenyu Jiang and Jan Kautz and Changliu Liu and Guanya Shi and Xiaolong Wang and Linxi Fan and Yuke Zhu},
  year = {2024},
  eprint = {2410.21229},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2410.21229},
}

@misc{he2024learning,
  title = {{Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation}},
  author = {Tairan He and Zhengyi Luo and Wenli Xiao and Chong Zhang and Kris Kitani and Changliu Liu and Guanya Shi},
  year = {2024},
  eprint = {2403.04436},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.04436},
}

@misc{team2024octo,
  title = {{Octo: An Open-Source Generalist Robot Policy}},
  author = {Octo Model Team and Dibya Ghosh and Homer Walke and Karl Pertsch and Kevin Black and Oier Mees and Sudeep Dasari and Joey Hejna and Tobias Kreiman and Charles Xu and Jianlan Luo and You Liang Tan and Lawrence Yunliang Chen and Pannag Sanketi and Quan Vuong and Ted Xiao and Dorsa Sadigh and Chelsea Finn and Sergey Levine},
  year = {2024},
  eprint = {2405.12213},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2405.12213},
}

@misc{he2024omnih,
  title = {{OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning}},
  author = {Tairan He and Zhengyi Luo and Xialin He and Wenli Xiao and Chong Zhang and Weinan Zhang and Kris Kitani and Changliu Liu and Guanya Shi},
  year = {2024},
  eprint = {2406.08858},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2406.08858},
}

@misc{cheng2023extreme,
  title = {{Extreme Parkour with Legged Robots}},
  author = {Xuxin Cheng and Kexin Shi and Ananye Agarwal and Deepak Pathak},
  year = {2023},
  eprint = {2309.14341},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2309.14341},
}

@misc{suresh2023neural,
  title = {{Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation}},
  author = {Sudharshan Suresh and Haozhi Qi and Tingfan Wu and Taosha Fan and Luis Pineda and Mike Lambeta and Jitendra Malik and Mrinal Kalakrishnan and Roberto Calandra and Michael Kaess and Joseph Ortiz and Mustafa Mukadam},
  year = {2023},
  eprint = {2312.13469},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2312.13469},
}

@misc{kumar2021rma,
  title = {{RMA: Rapid Motor Adaptation for Legged Robots}},
  author = {Ashish Kumar and Zipeng Fu and Deepak Pathak and Jitendra Malik},
  year = {2021},
  eprint = {2107.04034},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2107.04034},
}

@misc{bhirangi2021reskin,
  title = {{ReSkin: versatile, replaceable, lasting tactile skins}},
  author = {Raunaq Bhirangi and Tess Hellebrekers and Carmel Majidi and Abhinav Gupta},
  year = {2021},
  eprint = {2111.00071},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2111.00071},
}

@misc{si2021taxim,
  title = {{Taxim: An Example-based Simulation Model for GelSight Tactile Sensors}},
  author = {Zilin Si and Wenzhen Yuan},
  year = {2021},
  eprint = {2109.04027},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2109.04027},
}

@misc{chaplot2020learning,
  title = {{Learning to Explore using Active Neural SLAM}},
  author = {Devendra Singh Chaplot and Dhiraj Gandhi and Saurabh Gupta and Abhinav Gupta and Ruslan Salakhutdinov},
  year = {2020},
  eprint = {2004.05155},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2004.05155},
}

@misc{chaplot2020object,
  title = {{Object Goal Navigation using Goal-Oriented Semantic Exploration}},
  author = {Devendra Singh Chaplot and Dhiraj Gandhi and Abhinav Gupta and Ruslan Salakhutdinov},
  year = {2020},
  eprint = {2007.00643},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2007.00643},
}

@misc{lin2020softgym,
  title = {{SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation}},
  author = {Xingyu Lin and Yufei Wang and Jake Olkin and David Held},
  year = {2020},
  eprint = {2011.07215},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2011.07215},
}

@misc{calli2015benchmarking,
  title = {{Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols}},
  author = {Berk Calli and Aaron Walsman and Arjun Singh and Siddhartha Srinivasa and Pieter Abbeel and Aaron M. Dollar},
  year = {2015},
  eprint = {1502.03143},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1502.03143},
}

@misc{ross2010reduction,
  title = {{A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning}},
  author = {Stephane Ross and Geoffrey J. Gordon and J. Andrew Bagnell},
  year = {2010},
  eprint = {1011.0686},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1011.0686},
}