Cover Image

LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ceola, Federico, Natale, Lorenzo, Sünderhauf, Niko, Rana, Krishan
Format:	Preprint
Published:	2023
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
by: Alessi, Carlo, et al.
Published: (2025)

Multi-Modal 3D Scene Graph Updater for Shared and Dynamic Environments
by: Olivastri, Emilio, et al.
Published: (2024)

System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games
by: Zhao, Guangyu, et al.
Published: (2026)

Spatially Grounded Long-Horizon Task Planning in the Wild
by: Jung, Sehun, et al.
Published: (2026)

RESPRECT: Speeding-up Multi-fingered Grasping with Residual Reinforcement Learning
by: Ceola, Federico, et al.
Published: (2024)

IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation
by: Rana, Krishan, et al.
Published: (2025)

Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics
by: Abou-Chakra, Jad, et al.
Published: (2024)

Learning Object-Centric Spatial Reasoning for Sequential Manipulation in Cluttered Environments
by: Eze, Chrisantus, et al.
Published: (2026)

RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation
by: Garg, Sourav, et al.
Published: (2024)

SAGE: Scene Graph-Aware Guidance and Execution for Long-Horizon Manipulation Tasks
by: Li, Jialiang, et al.
Published: (2025)

Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation
by: Wang, Fangyuan, et al.
Published: (2025)

HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
by: Kamtikar, Shivani, et al.
Published: (2026)

PCHands: PCA-based Hand Pose Synergy Representation on Manipulators with N-DoF
by: Puang, En Yen, et al.
Published: (2025)

Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
by: Rana, Krishan, et al.
Published: (2024)

A Grasp Pose is All You Need: Learning Multi-fingered Grasping with Deep Reinforcement Learning from Vision and Touch
by: Ceola, Federico, et al.
Published: (2023)

Grounding Vision and Language to 3D Masks for Long-Horizon Box Rearrangement
by: Malik, Ashish, et al.
Published: (2026)

INVIGORATE: Interactive Visual Grounding and Grasping in Clutter
by: Zhang, Hanbo, et al.
Published: (2021)

Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
by: Liu, Jinkun, et al.
Published: (2026)

KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection
by: Rosasco, Andrea, et al.
Published: (2025)

CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
by: Hao, Ce, et al.
Published: (2025)

A Collision-Aware Cable Grasping Method in Cluttered Environment
by: Zhang, Lei, et al.
Published: (2024)

MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning
by: Mishani, Itamar, et al.
Published: (2025)

LHM-Humanoid: Learning a Unified Policy for Long-Horizon Humanoid Whole-Body Loco-Manipulation in Diverse Messy Environments
by: Zhang, Haozhuo, et al.
Published: (2025)

Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chaining
by: Chen, Yipeng, et al.
Published: (2026)

LoHoVLA: A Unified Vision-Language-Action Model for Long-Horizon Embodied Tasks
by: Yang, Yi, et al.
Published: (2025)

FCRF: Flexible Constructivism Reflection for Long-Horizon Robotic Task Planning with Large Language Models
by: Song, Yufan, et al.
Published: (2025)

Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
by: Abou-Chakra, Jad, et al.
Published: (2025)

ELHPlan: Efficient Long-Horizon Task Planning for Multi-Agent Collaboration
by: Ling, Shaobin, et al.
Published: (2025)

RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Tasks
by: Li, Ruiying, et al.
Published: (2026)

Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
by: Feng, Yunhai, et al.
Published: (2025)

VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
by: Zhang, Shiduo, et al.
Published: (2024)

ContextFlow: Hierarchical Task-State Alignment for Long-Horizon Embodied Agents
by: Guo, Shuhan, et al.
Published: (2026)

Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
by: Meng, Yuan, et al.
Published: (2025)

Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments
by: Suresh, Krishna, et al.
Published: (2023)

STaR: Scalable Task-Conditioned Retrieval for Long-Horizon Multimodal Robot Memory
by: Yuan, Mingfeng, et al.
Published: (2026)

Sci-VLA: Agentic VLA Inference Plugin for Long-Horizon Tasks in Scientific Experiments
by: Pang, Yiwen, et al.
Published: (2026)

V-CAGE: Context-Aware Generation and Verification for Scalable Long-Horizon Embodied Tasks
by: Liu, Yaru, et al.
Published: (2026)

DETACH: Cross-domain Learning for Long-Horizon Tasks via Mixture of Disentangled Experts
by: Shen, Yutong, et al.
Published: (2025)

Toward Accurate Long-Horizon Robotic Manipulation: Language-to-Action with Foundation Models via Scene Graphs
by: Dinesh, Sushil Samuel, et al.
Published: (2025)

STEER: Flexible Robotic Manipulation via Dense Language Grounding
by: Smith, Laura, et al.
Published: (2024)