Awesome-Robotics-3D

✨ About

This repo contains a curated list of 3D Vision papers relating to Robotics domain in the era of large models i.e. LLMs/VLMs, inspired by awesome-computer-vision

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! List curated and maintained by Zubair Irshad. If you have any questions, please get in touch!

:fire: Other relevant survey papers:

• "Neural Fields in Robotics", arXiv, Oct 2024. [Paper]

• "When LLMs step into the 3D World: A Survey and Meta-Analysis of 3D Tasks via Multi-modal Large Language Models", arXiv, May 2024. [Paper]

• "3D Gaussian Splatting in Robotics: A Survey", arXiv, Oct 2024. [Paper]

• "A Comprehensive Study of 3-D Vision-Based Robot Manipulation", TCYB 2021. [Paper]

🏠 Overview

• Policy Learning
• Pretraining
• VLM and LLM
• Representations
• Simulations, Datasets and Benchmarks
• Citation

Policy Learning

• 3D Diffuser Actor: "Policy diffusion with 3d scene representations", arXiv Feb 2024. [Paper] [Webpage] [Code]

• 3D Diffusion Policy: "Generalizable Visuomotor Policy Learning via Simple 3D Representations", RSS 2024. [Paper] [Webpage] [Code]

• DNAct: "Diffusion Guided Multi-Task 3D Policy Learning", arXiv Mar 2024. [Paper] [Webpage]

• ManiCM: "Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation", arXiv Jun 2024. [Paper] [Webpage] [Code]

• HDP: "Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation", CVPR 2024. [Paper] [Webpage] [Code]

• Imagination Policy: "Using Generative Point Cloud Models for Learning Manipulation Policies", arXiv Jun 2024. [Paper] [Webpage]

• PCWM: "Point Cloud Models Improve Visual Robustness in Robotic Learners", ICRA 2024. [Paper] [Webpage]

• RVT: "Generalizable Visuomotor Policy Learning via Simple 3D Representations", CORL 2023. [Paper] [Webpage] [Code]

• Act3D: "3D Feature Field Transformers for Multi-Task Robotic Manipulation", CORL 2023. [Paper] [Webpage] [Code]

• VIHE: "Transformer-Based 3D Object Manipulation Using Virtual In-Hand View", arXiv, Mar 2024. [Paper] [Webpage] [Code]

• SGRv2: "Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation", arXiv, Jun 2024. [Paper] [Webpage]

• Sigma-Agent: "Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation", arXiv June 2024. [Paper]

• RVT-2: "Learning Precise Manipulation from Few Demonstrations", RSS 2024. [Paper] [Webpage] [Code]

• SAM-E: "Leveraging Visual Foundation Model with Sequence Imitation for Embodied Manipulation", ICML 2024. [Paper] [Webpage] [Code]

• RISE: "3D Perception Makes Real-World Robot Imitation Simple and Effective", arXiv, Apr 2024. [Paper] [Webpage] [Code]

• Polarnet: "3D Point Clouds for Language-Guided Robotic Manipulation", CORL 2023. [Paper] [Webpage] [Code]

• Chaineddiffuser: "Unifying Trajectory Diffusion and Keypose Prediction for Robotic Manipulation", CORL 2023. [Paper] [Webpage] [Code]

• Pointcloud_RL: "On the Efficacy of 3D Point Cloud Reinforcement Learning", arXiv, June 2023. [Paper] [Code]

• Perceiver-Actor: "A Multi-Task Transformer for Robotic Manipulation", CORL 2022. [Paper] [Webpage] [Code]

• CLIPort: "What and Where Pathways for Robotic Manipulation", CORL 2021. [Paper] [Webpage] [Code]

• Polarnet: "3D Point Clouds for Language-Guided Robotic Manipulation", CORL 2023. [Paper] [Webpage] [Code]

Pretraining

• 3D-MVP: "3D Multiview Pretraining for Robotic Manipulation", arXiv, June 2024. [Paper] [Webpage]

• DexArt: "Benchmarking Generalizable Dexterous Manipulation with Articulated Objects", CVPR 2023. [Paper] [Webpage] [Code]

• RoboUniView: "Visual-Language Model with Unified View Representation for Robotic Manipulaiton", arXiv, Jun 2023. [Paper] [Website] [Code]

• SUGAR: "Pre-training 3D Visual Representations for Robotics", CVPR 2024. [Paper] [Webpage] [Code]

• DPR: "Visual Robotic Manipulation with Depth-Aware Pretraining", arXiv, Jan 2024. [Paper]

• MV-MWM: "Multi-View Masked World Models for Visual Robotic Manipulation", ICML 2023. [Paper] [Code]

• Point Cloud Matters: "Rethinking the Impact of Different Observation Spaces on Robot Learning", arXiv, Feb 2024. [Paper] [Code]

• RL3D: "Visual Reinforcement Learning with Self-Supervised 3D Representations", IROS 2023. [Paper] [Website] [Code]

VLM and LLM

• RoboRefer: "Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics", ArXiv 2025. [Paper] [Website]

• AHA: "A Vision-Language-Model for Detecting and Reasoning over Failures in Robotic Manipulation", ArXiv 2024. [Paper] [Website]

• ShapeLLM: "ShapeLLM: Universal 3D Object Understanding for Embodied Interaction", ECCV 2024. [Paper/PDF] [Code] [Website]

• 3D-VLA: "3D Vision-Language-Action Generative World Model", ICML 2024. [Paper] [Website] [Code]

• RoboPoint: "A Vision-Language Model for Spatial Affordance Prediction for Robotics", CORL 2024. [Paper] [Website] [Demo]

• Open6DOR: "Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach", IROS 2024. [Paper] [Website] [Code]

• ReasoningGrasp: "Reasoning Grasping via Multimodal Large Language Model", CORL 2024. [Paper]

• SpatialVLM: "Endowing Vision-Language Models with Spatial Reasoning Capabilities", CVPR 2024. [Paper] [Website] [Code]

• SpatialRGPT: "Grounded Spatial Reasoning in Vision Language Model", arXiv, June 2024. [Paper] [Website]

• Scene-LLM: "Extending Language Model for 3D Visual Understanding and Reasoning", arXiv, Mar 2024. [Paper]

• ManipLLM: "Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation ", CVPR 2024. [Paper] [Website] [Code]

• Manipulate-Anything: "Manipulate-Anything: Automating Real-World Robots using Vision-Language Models", CoRL, 2024. [Paper] [Website]

• MOKA: "Open-Vocabulary Robotic Manipulation through Mark-Based Visual Prompting", RSS 2024. [Paper] [Website] [Code]

• Agent3D-Zero: "An Agent for Zero-shot 3D Understanding", arXIv, Mar 2024. [Paper] [Website] [Code]

• MultiPLY: "A Multisensory Object-Centric Embodied Large Language Model in 3D World", CVPR 2024. [Paper] [Website] [Code]

• ThinkGrasp: "A Vision-Language System for Strategic Part Grasping in Clutter", arXiv, Jul 2024. [Paper] [Website]

• VoxPoser: "Composable 3D Value Maps for Robotic Manipulation with Language Models", CORL 2023. [Paper] [Website] [Code]

• Dream2Real: "Zero-Shot 3D Object Rearrangement with Vision-Language Models", ICRA 2024. [Paper] [Website] [Code]

• LEO: "An Embodied Generalist Agent in 3D World", ICML 2024. [Paper] [Website] [Code]

• SpatialPIN: "Enhancing Spatial Reasoning Capabilities of Vision-Language Models through Prompting and Interacting 3D Priors", arXiv, Mar 2024. [Paper] [Website]

• SpatialBot: "Precise Spatial Understanding with Vision Language Models", arXiv, Jun 2024. [Paper] [Code]

• COME-robot: "Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V", arXiv, Apr 2024. [Paper] [Website]

• 3D-LLM: "Open-Vocabulary Robotic Manipulation through Mark-Based Visual Prompting", Neurips 2023. [Paper] [Website] [Code]

• VLMaps: "Visual Language Maps for Robot Navigation", ICRA 2023. [Paper] [Website] [Code]

• MoMa-LLM: "Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation", RA-L 2024. [Paper] [Website] [Code]

• LGrasp6D: "Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance", ECCV 2024. [Paper] [Website]

• OpenAD: "Open-Vocabulary Affordance Detection in 3D Point Clouds", IROS 2023. [Paper] [Website] [Code]

• 3DAPNet: "Language-Conditioned Affordance-Pose Detection in 3D Point Clouds", ICRA 2024. [Paper] [Website] [Code]

• OpenKD: "Open-Vocabulary Affordance Detection using Knowledge Distillation and Text-Point Correlation", ICRA 2024. [Paper] [Code]

• PARIS3D: "Reasoning Based 3D Part Segmentation Using Large Multimodal Model", ECCV 2024. [Paper] [Code]

Representation

• RoVi-Aug: "Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning", CORL 2024. [Paper] [Webpage]

• Vista: "View-Invariant Policy Learning via Zero-Shot Novel View Synthesis", CORL 2024. [Paper] [Webpage] [Code]

• GraspSplats: "Efficient Manipulation with 3D Feature Splatting", CORL 2024. [Paper] [Webpage] [Code]

• RAM: "Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation", CORL 2024. [Paper] [Webpage] [Code]

• Language-Embedded Gaussian Splats (LEGS): "Incrementally Building Room-Scale Representations with a Mobile Robot", IROS 2024. [Paper] [Webpage]

• Splat-MOVER: "Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting", arXiv May 2024. [Paper] [Webpage]

• GNFactor: "Multi-Task Real Robot Learning with Generalizable Neural Feature Fields", CORL 2023. [Paper] [Webpage] [Code]

• ManiGaussian: "Dynamic Gaussian Splatting for Multi-task Robotic Manipulation", ECCV 2024. [Paper] [Webpage] [Code]

• GaussianGrasper: "3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping", arXiv Mar 2024. [Paper] [Webpage] [Code]

• ORION: "Vision-based Manipulation from Single Human Video with Open-World Object Graphs", arXiv May 2024. [Paper] [Webpage]

• ConceptGraphs: "Open-Vocabulary 3D Scene Graphs for Perception and Planning", ICRA 2024. [Paper] [Webpage] [Code]

• SparseDFF: "Sparse-View Feature Distillation for One-Shot Dexterous Manipulation", ICLR 2024. [Paper] [Webpage]

• GROOT: "Learning Generalizable Manipulation Policies with Object-Centric 3D Representations", CORL 2023. [Paper] [Webpage] [Code]

• Distilled Feature Fields: "Enable Few-Shot Language-Guided Manipulation", CORL 2023. [Paper] [Webpage] [Code]

• SGR: "A Universal Semantic-Geometric Representation for Robotic Manipulation", CORL 2023. [Paper] [Webpage] [Code]

• OVMM: "Open-vocabulary Mobile Manipulation in Unseen Dynamic Environments with 3D Semantic Maps", arXiv, Jun 2024. [Paper]

• CLIP-Fields: "Weakly Supervised Semantic Fields for Robotic Memory", RSS 2023. [Paper] [Webpage] [Code]

• NeRF in the Palm of Your Hand: "Corrective Augmentation for Robotics via Novel-View Synthesis", CVPR 2023. [Paper] [Webpage]

• JCR: "Unifying Scene Representation and Hand-Eye Calibration with 3D Foundation Models", arXiv, Apr 2024. [Paper] [Code]

• D3Fields: "Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation", arXiv, Sep 2023. [Paper] [Webpage] [Code]

• SayPlan: "Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning", CORL 2023. [Paper] [Webpage]

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

Simulations, Datasets and Benchmarks

• RoboRefer: "Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics", ArXiv 2025. [Paper] [Website]

• The Colosseum: "A Benchmark for Evaluating Generalization for Robotic Manipulation", RSS 2024. [Paper] [Website] [Code]

• OpenEQA: "Embodied Question Answering in the Era of Foundation Models", CVPR 2024. [Paper] [Website] [Code]

• DROID: "A Large-Scale In-the-Wild Robot Manipulation Dataset", RSS 2024. [Paper] [Website] [Code]

• RH20T: "A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot", ICRA 2024. [Paper] [Website] [Code]

• Gen2Sim: "A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot", ICRA 2024. [Paper] [Website] [Code]

• BEHAVIOR Vision Suite: "Customizable Dataset Generation via Simulation", CVPR 2024. [Paper] [Website] [Code]

• RoboCasa: "Large-Scale Simulation of Everyday Tasks for Generalist Robots", RSS 2024. [Paper] [Website] [Code]

• ARNOLD: "ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes", ICCV 2023. [Paper] [Webpage] [Code]

• VIMA: "General Robot Manipulation with Multimodal Prompts", ICML 2023. [Paper] [Website] [Code]

• ManiSkill2: "A Unified Benchmark for Generalizable Manipulation Skills", ICLR 2023. [Paper] [Website] [Code]

• Robo360: "A 3D Omnispective Multi-Material Robotic Manipulation Dataset", arxiv, Dec 2023. [Paper]

• AR2-D2: "Training a Robot Without a Robot", CORL 2023. [Paper] [Website] [Code]

• Habitat 2.0: "Training Home Assistants to Rearrange their Habitat", Neuips 2021. [Paper] [Website] [Code]

• VL-Grasp: "a 6-Dof Interactive Grasp Policy for Language-Oriented Objects in Cluttered Indoor Scenes", IROS 2023. [Paper] [Code]

• OCID-Ref: "A 3D Robotic Dataset with Embodied Language for Clutter Scene Grounding", NAACL 2021. [Paper] [Code]

• ManipulaTHOR: "A Framework for Visual Object Manipulation", CVPR 2021. [Paper] [Website] [Code]

• RoboTHOR: "An Open Simulation-to-Real Embodied AI Platform", CVPR 2020. [Paper] [Website] [Code]

• HabiCrowd: "HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigation", IROS 2024. [Paper] [Website] [Code]

Citation

If you find this repository useful, please consider citing this list: @misc{irshad2024roboticd3D, title = {Awesome Robotics 3D - A curated list of resources on 3D vision papers relating to robotics}, author = {Muhammad Zubair Irshad}, journal = {GitHub repository}, url = {https://github.com/zubair-irshad/Awesome-Robotics-3D}, year = {2024}, }