Revisiting-Open-Loop-Execution-in-Robotics

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Revisiting-Open-Loop-Execution-in-Robotics

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Code Index for the project: Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies

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## Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies

Home page for code and datasets used in the paper: [Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies](https://arxiv.org/abs/2608.15938)

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### Public Code:
- Diffusion Policy Training Repository: https://github.com/Michaelszeng/diffusion-policy-experiments
- `FurnitureSim` Experiments: https://github.com/Michaelszeng/benchmark-furniturebench-juicer
- `Push-T` Drake Experiments: https://github.com/Michaelszeng/diffusion-policy-drake
- `Push-T` ManiSkill Experiments: https://github.com/Michaelszeng/ManiSkill
- `IsaacLab Gear Insertion` Experiments: https://github.com/Michaelszeng/IsaacLab
- `Franka Kitchen` Experiments: https://github.com/Michaelszeng/relay-policy-learning

Note that the on-hardware inference code is proprietary and is thus not public.

### Public Datasets:
- `FurnitureSim` `one_leg` teleop demonstrations: https://huggingface.co/datasets/michzeng/FurnitureSim-one_leg-Teleop
- `ManiSkill` `PlanarPushT` teleop demonstrations: https://huggingface.co/datasets/michzeng/ManiSkill-PlanarPushT-Teleop

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Feel free to ask questions in the Issues!

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Cite this work:

```
@misc{zeng2026revisitingopenloopexecutionrobotics,
      title={Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies}, 
      author={Michael Zeng and Abhinav Agarwal and Ajay Bati and Brian Lee and Siddharth Ancha and Russ Tedrake},
      year={2026},
      eprint={2608.15938},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2608.15938}, 
}
```

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