PA
Pieter Abbeel
cs.LGcs.AIcs.ROcs.CVstat.MLcs.NEcs.CLcs.SYeess.SYcs.GR
On Valency
published · living versionsW_9dvv4xmd·v1 · currentpublished
Democratizing Robot-Use Agents: A Unified Harness with Open Models
with Jiarui Yuan, Yuxin Zuo, Xiaoyu Huang, Wenbo Zhang +23
1 version
W_3q7t7naw·v1published
W_v8r7k4sm·v2published
W_mn5x4gnh·v1published
W_7f666ryv·v1published
W_9kmp5csx·v1published
Preprints & journals
433 papers in the corpus · 2012–2026SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model2610.28480v1 · Qiayuan Liao, Yiyang Shao, Junfeng Long et al.2026 · 0 citationsarXivon Valency
SWAP: Test-Time Steerable Humanoid Whole-Body Collision Avoidance2610.25711v1 · Zeji Yi, Guanqi He, Xiaofeng Guo et al.2026 · 0 citationsarXivon Valency
SSIO: Self-Supervised Inertial Odometry2610.25988v2 · Yuheng Qiu, Yutian Chen, Carlton Cort et al.2026 · 0 citationsarXivon Valency
StopWatch: Goal Grounding for Object-goal Navigation2610.23841v1 · Xinhao Liu, Yunsheng Tian, Yuheng Qiu et al.2026 · 0 citationsarXiv
Scaling Online Exploration for Robot Agents2610.22496v1 · Runhan Huang, Xiangcheng Zhang, Haoyu Chen et al.2026 · 0 citationsarXiv
QF3: Fast Flow RL with Filtered Q-Gradients2610.08789v1 · Chung Min Kim, Brent Yi, David McAllister et al.2026 · 0 citationsarXiv
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data2610.09117v2 · Songbo Hu, Qiayuan Liao, Yufeng Chi et al.2026 · 0 citationsarXiv
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive2610.03861v2 · Yulin Liu, Lai Wei, Yen-Jen Wang et al.2026 · 0 citationsarXiv
Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents2610.02204v1 · Yen-Jen Wang, Haozhe Jiang, Shuying Deng et al.2026 · 0 citationsarXiv
Tactile Curiosity Drives Robot Interaction2609.40134v3 · Klemens Iten, Alexander Proshkin, Bhavya Sukhija et al.2026 · 0 citationsarXiv
Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation2609.38172v1 · Zihan Wang, Zhen Wu, Pieter Abbeel et al.2026 · 0 citationsarXiv
Humanoid Safe Stop via Learned Stoppability Value2609.02358v1 · Junfeng Long, Pieter Abbeel, Koushil Sreenath et al.2026 · 0 citationsarXiv
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes2606.30645v1 · Yen-Jen Wang, Jiaman Li, Sirui Chen et al.2026 · 0 citationsarXiv
Scalable Behavior Cloning with Open Data, Training, and Evaluation2606.27375v1 · Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh et al.2026 · 0 citationsarXiv
Do as I Do: Dexterous Manipulation Data from Everyday Human Videos2606.19333v1 · Bhawna Paliwal, Haritheja Etukuru, William Liang et al.2026 · 0 citationsarXiv
T-Rex: Tactile-Reactive Dexterous Manipulation2606.17055v2 · Dantong Niu, Zhuoyang Liu, Zekai Wang et al.2026 · 0 citationsarXiv
Mana: Dexterous Manipulation of Articulated Tools2606.13677v1 · Zhao-Heng Yin, Guanya Shi, Pieter Abbeel et al.2026 · 0 citationsarXiv
DiPOD: Diffusion Policy Optimization without Drifting Apart2606.13795v2 · Haozhe Jiang, Haiwen Feng, Pieter Abbeel et al.2026 · 0 citationsarXiv
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation2606.10305v1 · Qianzhong Chen, Hau Zheng, Justin Yu et al.2026 · 0 citationsarXiv
LadderMan: Learning Humanoid Perceptive Ladder Climbing2606.05873v1 · Siheng Zhao, Yuanhang Zhang, Ziqi Lu et al.2026 · 0 citationsarXiv
Multi-Objective Learning for Diffusion Models: A Statistical Theory under Semi-Supervised Learning2605.25210v1 · Ziheng Cheng, Yixiao Huang, Hanlin Zhu et al.2026 · 0 citationsarXiv
When Does Non-Uniform Replay Matter in Reinforcement Learning?2605.10236v3 · Michal Korniak, Miko\laj Czarnecki, Yarden As et al.2026 · 0 citationsarXiv
World Model for Robot Learning: A Comprehensive Survey2605.00080v1 · Bohan Hou, Gen Li, Jindou Jia et al.2026 · 1 citationarXiv
A retrieval-augmented framework enabling VLM spatial awareness for object-centric robot manipulation.42054478 · Chen, Kai, Li, Chengkun, Tu, Chang et al.2026 · 0 citationsScience robotics. 2026;11(113):eaea2092
Cross-Hand Latent Representation for Vision-Language-Action Models2603.10158v1 · Guangqi Jiang, Yutong Liang, Jianglong Ye et al.2026 · 0 citationsarXiv
Reward-Conditioned Reinforcement Learning2603.05066v3 · Michal Nauman, Marek Cygan, Pieter Abbeel2026 · 0 citationsarXiv
D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping2603.01151v1 · Haozhe Lou, Mingtong Zhang, Haoran Geng et al.2026 · 0 citationsarXiv
Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching2602.15827v2 · Zhen Wu, Xiaoyu Huang, Lujie Yang et al.2026 · 1 citationarXiv
DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos2602.06949v1 · Shenyuan Gao, William Liang, Kaiyuan Zheng et al.2026 · 1 citationarXiv
RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains2602.03002v3 · Yuanhang Zhang, Younggyo Seo, Juyue Chen et al.2026 · 0 citationsarXiv
Flow Policy Gradients for Robot Control2602.02481v2 · Brent Yi, Hongsuk Choi, Himanshu Gaurav Singh et al.2026 · 0 citationsarXiv
mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning2601.22074v2 · Kevin Zakka, Qiayuan Liao, Brent Yi et al.2026 · 0 citationsarXiv
Contact-Aware Neural Dynamics2601.12796v1 · Changwei Jing, Jai Krishna Bandi, Jianglong Ye et al.2026 · 0 citationsarXiv
Large Video Planner Enables Generalizable Robot Control2512.15840v2 · Boyuan Chen, Tianyuan Zhang, Haoran Geng et al.2025 · 0 citationsarXiv
SEMDICE: Off-policy State Entropy Maximization via Stationary Distribution Correction Estimation2512.10042v1 · Jongmin Lee, Meiqi Sun, Pieter Abbeel2025 · 0 citationsarXiv
Learning Sim-to-Real Humanoid Locomotion in 15 Minutes2512.01996v1 · Younggyo Seo, Carmelo Sferrazza, Juyue Chen et al.2025 · 0 citationsarXiv
DIPOLE: Fusing Vision and Geometry for Robust Visuomotor Generalization2511.22445v2 · Yikai Tang, Haoran Geng, Jindou Jia et al.2025 · 0 citationsarXiv
SOMBRL: Scalable and Optimistic Model-Based RL2511.20066v1 · Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza et al.2025 · 0 citationsarXiv
OSGym: Scalable OS Infra for Computer Use Agents2511.11672v5 · Zengyi Qin, Jinyuan Chen, Yunze Man et al.2025 · 0 citationsarXiv
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields2511.07418v1 · Zhao-Heng Yin, Pieter Abbeel2025 · 0 citationsarXiv
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System2511.02832v1 · Yanjie Ze, Siheng Zhao, Weizhuo Wang et al.2025 · 0 citationsarXiv
EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations2511.00153v2 · Justin Yu, Yide Shentu, Di Wu et al.2025 · 0 citationsarXiv
What Really Matters in Matrix-Whitening Optimizers?2510.25000v1 · Kevin Frans, Pieter Abbeel, Sergey Levine2025 · 0 citationsarXiv
Learning to Design Soft Hands using Reward Models2510.17086v1 · Xueqian Bai, Nicklas Hansen, Adabhav Singh et al.2025 · 0 citationsarXiv
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels2510.15352v1 · Alejandro Escontrela, Justin Kerr, Arthur Allshire et al.2025 · 0 citationsarXiv
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning2510.05070v2 · Siheng Zhao, Yanjie Ze, Yue Wang et al.2025 · 0 citationsarXiv
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction2509.26633v3 · Lujie Yang, Xiaoyu Huang, Zhen Wu et al.2025 · 1 citationarXiv
SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation2509.25358v4 · Qianzhong Chen, Justin Yu, Mac Schwager et al.2025 · 0 citationsarXiv
Residual Off-Policy RL for Finetuning Behavior Cloning Policies2509.19301v2 · Lars Ankile, Zhenyu Jiang, Rocky Duan et al.2025 · 0 citationsarXiv
End-to-end RL Improves Dexterous Grasping Policies2509.16434v1 · Ritvik Singh, Karl Van Wyk, Pieter Abbeel et al.2025 · 0 citationsarXiv
Career total: 687 works. 433 are in this corpus.Showing the 50 most recent.
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