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Martín-Martín, Roberto

  1. DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
    2024/03/19 by Khazatsky, Alexander, Pertsch, Karl, Nair, Suraj +98 · 206 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  2. Open X-Embodiment: Robotic Learning Datasets and RT-X Models
    2023/10/13 by Embodiment Collaboration, O'Neill, Abby, Rehman, Abdul +349 · 173 citations
    Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
  3. What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
    2021/08/06 by Mandlekar, Ajay, Xu, Danfei, Wong, Josiah +7 · 106 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  4. Multi-Stage Learning for Grasp-Constrained Object Manipulation with a Simulated Panda Robot
    2020/09/25 by Yuke Zhu, Zhu, Yuke, Josiah Wong +15 · 80 citations
    Computer Science · Engineering · #Reinforcement Learning in Robotics #Modular Robots and Swarm Intelligence #Robot Manipulation and Learning
  5. DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
    2019/01/15 by Chen Wang, Danfei Xu, Wang, Chen +11 · 26 citations
    Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Soft Robotics and Applications
  6. ULIP: Learning a Unified Representation of Language, Images, and Point Clouds for 3D Understanding
    2022/12/10 by Le Xue, Mingfei Gao, Xue, Le +15 · 38 citations
    Computer Science · #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Multimodal Machine Learning Applications
  7. iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
    2021/08/06 by Li, Chengshu, Xia, Fei, Martín-Martín, Roberto +13 · 27 citations
    #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  8. Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes
    2024/08/07 by Chen Tang, Tang, Chen, Ben Abbatematteo +9 · 53 citations
    Computer Science · #Reinforcement Learning in Robotics
  9. BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
    2021/08/06 by Sanjana Srivastava, Srivastava, Sanjana, Chengshu Li +25 · 22 citations
    Computer Science · Engineering · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Motion and Animation #Human Pose and Action Recognition #Reinforcement Learning in Robotics #Robotics (cs.RO)
  10. BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
    2024/03/14 by Chengshu Li, Ruohan Zhang, Li, Chengshu +67 · 36 citations
    Computer Science · Social Sciences · #Anomaly Detection Techniques and Applications #Artificial Intelligence (cs.AI) #Context-Aware Activity Recognition Systems #Ethics and Social Impacts of AI #FOS: Computer and information sciences #Robotics (cs.RO)
  11. LASER: Learning a Latent Action Space for Efficient Reinforcement\n Learning
    2021/03/29 by Arthur Allshire, Roberto Martín-Martín, Allshire, Arthur +10 · 1 voice · 1 citation
    Computer Science · Engineering · #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Software Engineering Research
  12. Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
    2023/06/29 by Anthony Francis, Francis, Anthony, Claudia Pérez-D’Arpino +59 · 23 citations
    Psychology · #Social Robot Interaction and HRI
  13. Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
    2020/03/13 by Ajay Mandlekar, Mandlekar, Ajay, Danfei Xu +7 · 13 citations
    Computer Science · Engineering · #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Adversarial Robustness in Machine Learning
  14. Variable Impedance Control in End-Effector Space: An Action Space for\n Reinforcement Learning in Contact-Rich Tasks
    2019/06/20 by Roberto Martín-Martín, Martín-Martín, Roberto, Michelle A. Lee +9 · 10 citations
    Engineering · Neuroscience · #Robot Manipulation and Learning #Muscle activation and electromyography studies #Motor Control and Adaptation
  15. Robot Navigation in Constrained Pedestrian Environments using\n Reinforcement Learning
    2020/10/16 by Claudia Pérez-D’Arpino, Pérez-D'Arpino, Claudia, Can Liu +7 · 10 citations
    Engineering · #Artificial Intelligence (cs.AI) #Evacuation and Crowd Dynamics #FOS: Computer and information sciences #Robotics (cs.RO)
  16. Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
    2021/12/09 by Josiah Wong, Albert Tung, Wong, Josiah +11 · 11 citations
    Engineering · Computer Science · #Robot Manipulation and Learning #Teleoperation and Haptic Systems #Hand Gesture Recognition Systems
  17. MUTEX: Learning Unified Policies from Multimodal Task Specifications
    2023/09/25 by Shah, Rutav, Martín-Martín, Roberto, Zhu, Yuke · 15 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  18. Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks
    2019/07/04 by Vineet Kosaraju, Kosaraju, Vineet, Amir Sadeghian +9 · 7 citations
    Computer Science · Engineering · Social Sciences · #Anomaly Detection Techniques and Applications #Autonomous Vehicle Technology and Safety #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Mobility and Location-Based Analysis #Machine Learning (cs.LG) #Traffic Prediction and Management Techniques #Video Surveillance and Tracking Methods
  19. Human-in-the-Loop Imitation Learning using Remote Teleoperation
    2020/12/12 by Mandlekar, Ajay, Xu, Danfei, Martín-Martín, Roberto +3 · 8 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  20. 6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
    2019/10/23 by Wang, Chen, Martín-Martín, Roberto, Xu, Danfei +5 · 7 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO)
  21. The RBO Dataset of Articulated Objects and Interactions
    2018/06/17 by Martín-Martín, Roberto, Eppner, Clemens, Brock, Oliver · 5 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO)
  22. Retrospectives on the Embodied AI Workshop
    2022/10/13 by Matt Deitke, Dhruv Batra, Deitke, Matt +74 · 6 citations
    Computer Science · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Human Pose and Action Recognition #Multimodal Machine Learning Applications
  23. Procedure-Aware Pretraining for Instructional Video Understanding
    2023/03/31 by Zhou, Honglu, Martín-Martín, Roberto, Kapadia, Mubbasir +2 · 6 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences
  24. BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation
    2024/10/08 by Shah, Rutav, Yu, Albert, Zhu, Yifeng +2 · 12 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotics (cs.RO)
  25. MaskViT: Masked Visual Pre-Training for Video Prediction
    2022/06/23 by Agrim Gupta, Stephen Tian, Gupta, Agrim +9 · 5 citations
    Computer Science · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Generative Adversarial Networks and Image Synthesis #Human Pose and Action Recognition #Machine Learning (cs.LG) #Multimodal Machine Learning Applications #Robotics (cs.RO)
  26. Multimodal Sensor Fusion with Differentiable Filters
    2020/10/25 by Lee, Michelle A., Yi, Brent, Martín-Martín, Roberto +2 · 4 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  27. TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
    2024/03/12 by Shivin Dass, Wensi Ai, Dass, Shivin +15 · 7 citations
    Computer Science · Engineering · Neuroscience · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO) #Tactile and Sensory Interactions #Teleoperation and Haptic Systems #Virtual Reality Applications and Impacts
  28. Model-Based Runtime Monitoring with Interactive Imitation Learning
    2023/10/26 by Huihan Liu, Shivin Dass, Liu, Huihan +5 · 5 citations
    Computer Science · #Anomaly Detection Techniques and Applications #Software System Performance and Reliability #Context-Aware Activity Recognition Systems
  29. Learning Multi-Arm Manipulation Through Collaborative Teleoperation
    2020/12/12 by Tung, Albert, Wong, Josiah, Mandlekar, Ajay +4 · 3 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  30. Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI
    2023/10/03 by Jin, Emily, Hu, Jiaheng, Huang, Zhuoyi +4 · 5 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  31. Differentiable Factor Graph Optimization for Learning Smoothers
    2021/05/18 by Yi, Brent, Lee, Michelle A., Kloss, Alina +2 · 3 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  32. Modeling Dynamic Environments with Scene Graph Memory
    2023/05/27 by Kurenkov, Andrey, Lingelbach, Michael, Agarwal, Tanmay +7 · 4 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG)
  33. Disentangled Unsupervised Skill Discovery for Efficient Hierarchical Reinforcement Learning
    2024/10/15 by Jiaheng Hu, Hu, Jiaheng, Zizhao Wang +5 · 7 citations
    Computer Science · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning and Data Classification #Reinforcement Learning in Robotics #Robotics (cs.RO)
  34. ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection
    2024/05/06 by Bahety, Arpit, Mandikal, Priyanka, Abbatematteo, Ben +1 · 6 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotics (cs.RO)
  35. SkiLD: Unsupervised Skill Discovery Guided by Factor Interactions
    2024/10/24 by Zizhao Wang, Jiaheng Hu, Wang, Zizhao +13 · 7 citations
    Computer Science · Social Sciences · #Educational Assessment and Pedagogy #Educational Technology and Assessment #FOS: Computer and information sciences #Higher Education Learning Practices #Machine Learning (cs.LG) #Robotics (cs.RO)
  36. ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation
    2020/08/18 by Xia, Fei, Li, Chengshu, Martín-Martín, Roberto +3 · 2 citations
    #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  37. Natural Language Can Help Bridge the Sim2Real Gap
    2024/05/16 by Yu, Albert, Foote, Adeline, Mooney, Raymond +1 · 4 citations
    #Computation and Language (cs.CL) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #I.2.6 #I.2.7 #I.2.9 #Machine Learning (cs.LG) #Robotics (cs.RO)
  38. Visuomotor Mechanical Search: Learning to Retrieve Target Objects in\n Clutter
    2020/08/13 by Andrey Kurenkov, Kurenkov, Andrey, Joseph Taglic +11 · 2 citations
    Computer Science · Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Neural Networks and Reservoir Computing #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
  39. Regression Planning Networks
    2019/09/28 by Danfei Xu, Roberto Martín-Martín, Xu, Danfei +9 · 2 citations
    Computer Science · #Human Pose and Action Recognition #Multimodal Machine Learning Applications #AI-based Problem Solving and Planning
  40. Deep Affordance Foresight: Planning Through What Can Be Done in the Future
    2020/11/17 by Xu, Danfei, Mandlekar, Ajay, Martín-Martín, Roberto +3 · 2 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  41. BEHAVIOR Vision Suite: Customizable Dataset Generation via Simulation
    2024/05/15 by Yunhao Ge, Ge, Yunhao, Yihe Tang +43 · 2 citations
    Computer Science · #Advanced Neural Network Applications
  42. DataMIL: Selecting Data for Robot Imitation Learning with Datamodels
    2025/05/14 by Shivin Dass, Alaa Khaddaj, Dass, Shivin +9 · 6 citations
    Computer Science · Engineering · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning and Algorithms #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
  43. JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset
    2020/02/19 by Shenoi, Abhijeet, Patel, Mihir, Gwak, JunYoung +5 · 1 citation
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO)
  44. Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search
    2020/12/07 by Kurenkov, Andrey, Martín-Martín, Roberto, Ichnowski, Jeff +2 · 1 citation
    #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  45. Task-Driven Graph Attention for Hierarchical Relational Object Navigation
    2023/06/23 by Michael Lingelbach, Lingelbach, Michael, Chengshu Li +15 · 1 citation
    Computer Science · #Multimodal Machine Learning Applications #Advanced Graph Neural Networks #Advanced Neural Network Applications
  46. MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos
    2025/09/11 by Rutav Shah, Shah, Rutav, Shuijing Liu +13 · 5 citations
    Computer Science · #FOS: Computer and information sciences #Human Pose and Action Recognition #Multimodal Machine Learning Applications #Robotics (cs.RO) #Video Surveillance and Tracking Methods
  47. Beyond Shortsighted Navigation: Merging Best View Trajectory Planning with Robot Navigation
    2024/08/22 by Srinath Tankasala, Tankasala, Srinath, Roberto Martín-Martín +3 · 1 citation
    Computer Science · Engineering · #Robotic Path Planning Algorithms #Robotics and Sensor-Based Localization #Transportation and Mobility Innovations
  48. Learning to Look: Seeking Information for Decision Making via Policy Factorization
    2024/10/24 by Shivin Dass, Dass, Shivin, Jiaheng Hu +7 · 1 citation
    Decision Sciences · #Complex Systems and Decision Making
  49. BiFlex: A Passive Bimodal Stiffness Flexible Wrist for Manipulation in Unstructured Environments
    2025/04/11 by Jeong, Gu-Cheol, Gasperina, Stefano Dalla, Deshpande, Ashish D. +2 · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)