Awesome-Robotics-with-Foundation Models

This repo was forked from Awesome-Implicit-NeRF-Robotics. Thanks for the inspiration!

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

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News

• 2024.09.23: Our Survey is ongoing, will be released soon.
• 2024.09.22: The Repo is built up and the first paper is added.

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Overview

• Awesome-Robotics-with-Foundation Models - Please feel free to send me pull requests or email to add papers!
  • Overview
  • Surveys
  • SLAM
  • Manipulation/RL
  • Object Reconstruction
  • Physics
  • Planning/Navigation
  • Citation

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Surveys

• One-step NeRF: "Marrying NeRF with Feature Matching for One-step Pose Estimation", ICRA, 2024. [Paper] [Short Video] [[Website&Code] Coming]

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SLAM

• iSDF: "Real-Time Neural Signed Distance Fields for Robot Perception", RSS, 2022. [Paper] [Pytorch Code] [Website]

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Manipulation/RL

• GNFactor: "GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields", CoRL 2023 Oral Presentation. [Paper/PDF] [Code] [Website]

• D³Fields: "D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation", arXiv. [Paper] [Webpage] [Code] [Video]

• SNeRL: "Semantic-aware Neural Radiance Fields for Reinforcement Learning", ICML, 2023. [Paper] [Webpage]

• Ditto: "Building Digital Twins of Articulated Objects from Interaction", CVPR, 2022. [Paper] [Pytorch Code] [Website]

• Relational-NDF: "SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields", CORL 2022. [Paper] [Pytorch Code] [Website]

• Neural Descriptor Fields: "SE(3)-Equivariant Object Representations for Manipulation", arXiv. [Paper] [Pytorch Code] [Website]

• Evo-NeRF: "Evolving NeRF for Sequential Robot Grasping of Transparent Objects", CORL 2022. [Paper] [Website]

• NeRF-RL: "Reinforcement Learning with Neural Radiance Fields", arXiv. [Paper] [Website]

• Neural Motion Fields: "Encoding Grasp Trajectories as Implicit Value Functions", RSS 2022. [Paper] [Video]

• Grasping Field: "Learning Implicit Representations for Human Grasps", 3DV 2020. [Paper] [Pytorch Code] [Video]

• Dex-NeRF: "Using a Neural Radiance Field to Grasp Transparent Objects", CORL, 2021. [Paper] [Website]

• NeRF-Supervision: "Learning Dense Object Descriptors from Neural Radiance Fields", ICRA, 2022. [Paper] [Pytorch Code] [Website]

• GIGA: "Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations", RSS, 2021. [Paper] [Pytorch Code] [Website]

• NeuralGrasps: "Learning Implicit Representations for Grasps of Multiple Robotic Hands", CORL, 2022. [Paper] [Website]

• "Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter", CORL, 2022. [Paper] [Website]

• ObjectFolder: "A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations"", CORL, 2021. [Paper] [Pytorch Code] [Website]

• ObjectFolder 2.0: "A Multisensory Object Dataset for Sim2Real Transfer"", CVPR, 2022. [Paper] [Pytorch Code] [Website]

• "Template-Based Category-Agnostic Instance Detection for Robotic Manipulation"", RA-L, 2022. [Paper]

• NeRF2Real: "Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields"", arXiv. [Paper] [Website]

• NeRF-Frenemy: "Co-Opting Adversarial Learning for Autonomy-Directed Co-Design", RSS Workshop, 2022. [Paper] [Website]

• CLA-NeRF: "Category-Level Articulated Neural Radiance Field", ICRA, 2022. [Paper] [Website]

• VIRDO: "Visio-tactile Implicit Representations of Deformable Objects", ICRA, 2022. [Paper] [Website]

• VIRDO++:: "Real-World, Visuo-Tactile Dynamics and Perception of Deformable Objects", CORL, 2022. [Paper] [Website]

• SceneCollisionNet: "Object Rearrangement Using Learned Implicit Collision Functions", ICRA, 2021. [Paper] [Website]

• "RGB-D Local Implicit Function for Depth Completion of Transparent Objects", CVPR, 2021. [Paper] [Website]

• "Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning", CORL, 2021. [Paper] [Video]

• ContactNets: "Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations", CORL, 2020. [Paper] [Pytorch Code]

• "Learning Implicit Priors for Motion Optimization", IROS, 2022. [Paper] [Website]

• MIRA: "Mental Imagery for Robotic Affordances", CORL, 2022. [Paper] [Website]

• NiFR: "Neural Fields for Robotic Object Manipulation from a Single Image", ICRA, 2023. [Paper]

• NIFT: "Neural Interaction Field and Template for Object Manipulation", ICRA, 2023. [Paper]

• "Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance", "IROS, 2022". [Paper]

• GraspNeRF: "Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF", ICRA, 2023. [Paper]

• Touching a NeRF: "Leveraging Neural Radiance Fields for Tactile Sensory Data Generation ", CORL, 2022. [Paper]

• SE(3)-DiffusionFields: "Learning smooth cost functions for joint grasp and motion optimization through diffusion", ICRA, 2023. [Paper] [Pytorch Code]

• Equivariant Descriptor Fields: "SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning ", ICLR, 2023. [Paper]

• KP-NERF: "Dynamical Scene Representation and Control with Keypoint-Conditioned Neural Radiance Field", CASE, 2022. [Paper]

• ACID: "Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation", RSS, 2022. [Paper] [Pytorch Code]

• TRITON: "Neural Neural Textures Make Sim2Real Consistent", CORL, 2022. [Paper] [Website] [Pytorch Code]

• "Perceiving Unseen 3D Objects by Poking the Objects", ICRA, 2023. [Paper] [Website] [Pytorch Code]

• "Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding", ICRA, 2023. [Paper] [Website]

• CGF: "Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations", arXiv. [Paper] [Website]

• NGDF: "Neural Grasp Distance Fields for Robot Manipulation", arXiv. [Paper] [Website] [Pytorch Code]

• NCF: "Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing", arXiv. [Paper] [Pytorch Code]

• SPARTN: "NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis", arXiv. [Paper]

• "RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control", arXiv. [Paper] [Website]

• "Grasp Transfer based on Self-Aligning Implicit Representations of Local Surfaces", RAL, 2023. [Paper] [Code] [Website]

• "A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction", arXiv. [Paper] [Video]

• EndoNeRF: "Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery", MICCAI, 2022. [Paper] [Pytorch Code]

• NFMP: "Neural Field Movement Primitives for Joint Modelling of Scenes and Motions", IROS, 2023. [Paper] [Code] [Website]

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Object Reconstruction

• NTO3D: "Neural Target Object 3D Reconstruction with Segment Anything", CVPR, 2024. [Paper] [Code]

• "Self-supervised Neural Articulated Shape and Appearance Models", CVPR, 2022. [Paper] [Website]

• NeuS: "Learning Neural Implicit Surfacesby Volume Rendering for Multi-view Reconstruction", Neurips, 2021. [Paper] [Website]

• VolSDF: "Volume Rendering of Neural Implicit Surfaces", Neurips, 2021. [Paper] [Pytorch Code]

• UNISURF: "Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstruction", ICCV, 2021. [Paper] [Website] [Pytorch Code]

• ObjectSDF: "Object-Compositional Neural Implicit Surfaces", ECCV, 2022. [Paper] [Website] [Pytorch Code]

• IDR: "Multiview Neural Surface Reconstruction by Disentangling Geometry and Appearance", Neurips, 2020. [Paper] [Website] [Pytorch Code]

• DVR: "Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervision", CVPR, 2020. [Paper] [Pytorch Code]

• A-SDF: "Learning Disentangled Signed Distance Functions for Articulated Shape Representation", ICCV, 2021. [Paper] [Pytorch Code]

• CodeNeRF: "Disentangled Neural Radiance Fields for Object Categories", ICCV, 2021. [Paper] [Pytorch Code]

• DeepSDF: " Learning Continuous Signed Distance Functions for Shape Representation", CVPR, 2019. [Paper] [Pytorch Code]

• Occupancy networks: " Learning 3d reconstruction in function space", CVPR, 2019. [Paper] [Website]

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Physics

• "Inferring Hybrid Neural Fluid Fields from Videos", Neurips, 2023. [Paper] [Pytorch Code] [Website]

• DANOs: "Differentiable Physics Simulation of Dynamics-Augmented Neural Objects", arXiv. [Paper] [Video]

• PAC-NeRF: "Physics Augmented Continuum Neural Radiance Fields for Geometry-Agnostic System Identification", ICLR, 23. [Paper] [Website] [Video] [Pytorch Code]

• NeuPhysics: "Editable Neural Geometry and Physics from Monocular Videos", Neurips, 2022. [Paper] [Pytorch Code] [Website]

• NeRF-ysics: "A Differentiable Pipeline for Enriching NeRF-Represented Objects with Dynamical Properties", ICRA Workshop, 2022. [Paper]

• "Neural Implicit Representations for Physical Parameter Inference from a Single Video", WACV, 2023. [Paper] [Pytorch Code] [Website]

• NeuroFluid: "Fluid Dynamics Grounding with Particle-Driven Neural Radiance Fields", ICML, 2022. [Paper] [Pytorch Code]

• "Physics Informed Neural Fields for Smoke Reconstruction with Sparse Data", SIGGRAPH, 2022. [Paper] [Pytorch Code][Website]

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Planning/Navigation

• NeRFlow: "Neural Radiance Flow for 4D View Synthesis and Video Processing", ICCV, 2021. [Paper] [Pytorch Code] [Website]

• NeRF-Navigation: "Vision-Only Robot Navigation in a Neural Radiance World", ICRA, 2022. [Paper] [Pytorch Code] [Website]

• RNR-Map: "Renderable Neural Radiance Map for Visual Navigation", CVPR, 2023. [Paper] [Website]

• "Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields", RAL, 2022. [[Paper (https://arxiv.org/pdf/2209.08409.pdf)] [Website]

• NeRF-dy: "3D Neural Scene Representations for Visuomotor Control", CORL, 2021. [Paper] [Website]

• CompNeRFdyn: "Learning Multi-Object Dynamics with Compositional Neural Radiance Fields", arXiv. [Paper] [Website]

• PIFO: "Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input", arXiv. [Paper] [Website]

• "Learning Continuous Environment Fields via Implicit Functions", ICLR, 2022. [Paper] [Website]

• "Learning Barrier Functions with Memory for Robust Safe Navigation", RA-L, 2021. [Paper]

• RedSDF: "Regularized Deep Signed Distance Fields for Reactive Motion Generation", IROS, 2022. [Paper] [Website]

• AutoNeRF: "Training Implicit Scene Representations with Autonomous Agents", arxiv. [Paper] [Website]

• ESDF: "Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields", arXiv. [Paper]

• CLIP-Fields: "Open-label semantic navigation with pre-trained VLMs and language models", arxiv. [Paper] [Pytorch Code and Tutorials] [Website]

• Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction", IROS, 2022. [Paper] [Pytorch Code]

• Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning, IROS, 2017. [Paper]

• NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots With Nonholonomic Constraints", RA-L, 2022. [Paper] [Video]

• CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes", arXiv. [Paper]

• MeSLAM: Memory Efficient SLAM based on Neural Fields, IEEE SMC, 2022. [Paper]

• NTFields: "Neural Time Fields for Physics-Informed Robot Motion Planning", ICLR, 2023. [Paper]

• "Real-time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection", IROS, 2022. [Paper]

• NeurAR: "Neural Uncertainty for Autonomous 3D Reconstruction", RA-L, 2023. [Paper]

• IR-MCL: "Implicit Representation-Based Online Global Localization", RA-L, 2023. [Paper] [Pytorch Code]

• 360Roam: "Real-Time Indoor Roaming Using Geometry-Aware 360◦ Radiance Fields", arXiv. [Paper] [Pytorch Code]

• "Learning Deep SDF Maps Online for Robot Navigation and Exploration", arXiv. [Paper]

• DroNeRF: Real-time Multi-agent Drone Pose Optimization for Computing Neural Radiance Fields. [Paper]

• "Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields", arXiv. [Paper]

• "Full-Body Visual Self-Modeling of Robot Morphologies", arXiv. [Paper] [Website]

• "Efficient View Path Planning for Autonomous Implicit Reconstruction", arxiv. [Paper]

• "Multi-Object Navigation with dynamically learned neural implicit representations", arxiv. [Paper] [Website

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Citation

If you find this repository useful, please consider citing this list:

@misc{irshad2022implicitnerfroboticsresources,
    title = {Awesome Implicit NeRF Robotics - A curated list of resources on implicit neural representations and nerf relating to robotics},
    author = {Muhammad Zubair Irshad},
    journal = {GitHub repository},
    url = {https://github.com/zubair-irshad/Awesome-Implicit-NeRF-Robotics},
    DOI= {10.5281/ZENODO.7552613}
    year = {2022},
}