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General-purpose pre-trained models ("foundation models") have enabled practitioners to produce generalizable solutions for individual machine learning problems with datasets that are significantly smaller than those required for learning from scratch.
Imagenet: A large-scale hierarchical image database
J. Deng, W. Dong, R. Socher, L.-J. Li, K. Li, and L. Fei-Fei · 2009
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Quo vadis, action recognition? a new model and the kinetics dataset
J. Carreira and A. Zisserman · 2017
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Learning modular neural network policies for multi-task and multi-robot transfer
C. Devin, A. Gupta, T. Darrell, P. Abbeel, and S. Levine · 2017
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Target-driven visual navigation in indoor scenes using deep reinforcement learning
Y. Zhu, R. Mottaghi, E. Kolve, J. J. Lim, A. Gupta, L. Fei-Fei, and A. Farhadi · 2017
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Attention is all you need
A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, L. u. Kaiser, and I. Polosukhin · 2017
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Improving language understanding by generative pre-training
A. Radford, K. Narasimhan, T. Salimans, I. Sutskever, et al · 2018
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Dronet: Learning to fly by driving
A. Loquercio, A. I. Maqueda, C. R. del Blanco, and D. Scaramuzza · 2018
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End-to-End Driving Via Conditional Imitation Learning
F. Codevilla, M. Müller, A. López, V. Koltun, and A. Dosovitskiy · 2018
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Semi-Parametric Topological Memory for Navigation
N. Savinov, A. Dosovitskiy, and V. Koltun · 2018
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Learning deployable navigation policies at kilometer scale from a single traversal
J. Bruce, N. Sunderhauf, P. Mirowski, R. Hadsell, and M. Milford · 2018
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Prm-rl: Long-range robotic navigation tasks by combining reinforcement learning and sampling-based planning
A. Faust, K. Oslund, O. Ramirez, A. Francis, L. Tapia, M. Fiser, and J. Davidson · 2018
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On Evaluation of Embodied Navigation Agents
P. Anderson et al · 2018
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Self-Supervised Deep RL with Generalized Computation Graphs for Robot Navigation
G. Kahn, A. Villaflor, B. Ding, P. Abbeel, and S. Levine · 2018
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Representation learning with contrastive predictive coding
A. v. d. Oord, Y. Li, and O. Vinyals · 2018
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Habitat: A Platform for Embodied AI Research
Manolis Savva*, Abhishek Kadian*, Oleksandr Maksymets*, Y. Zhao, E. Wijmans, B. Jain, J. Straub, J. Liu, V. Koltun, J. Malik, D. Parikh, and D. Batra · 2019
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Deep Visual MPC-Policy Learning for Navigation
N. Hirose, F. Xia, R. Martín-Martín, A. Sadeghian, and S. Savarese · 2019
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EfficientNet: Rethinking model scaling for convolutional neural networks
M. Tan and Q. Le · 2019
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Decoupled weight decay regularization
I. Loshchilov and F. Hutter · 2019
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A simple framework for contrastive learning of visual representations
T. Chen, S. Kornblith, M. Norouzi, and G. Hinton · 2020
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Robonet: Large-scale multi-robot learning
S. Dasari, F. Ebert, et al · 2020
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Bdd100k: A diverse driving dataset for heterogeneous multitask learning
F. Yu, H. Chen, X. Wang, W. Xian, Y. Chen, F. Liu, V. Madhavan, and T. Darrell · 2020
Cited alongside, same era.
Sim-to-real transfer for vision-and-language navigation
P. Anderson, A. Shrivastava, J. Truong, A. Majumdar, D. Parikh, D. Batra, and S. Lee · 2020
Cited alongside, same era.
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
A. Kadian, J. Truong, A. Gokaslan, A. Clegg, E. Wijmans, S. Lee, M. Savva, S. Chernova, and D. Batra · 2020
Cited alongside, same era.
Scaling Local Control to Large-Scale Topological Navigation
X. Meng, N. Ratliff, Y. Xiang, and D. Fox · 2020
Cited alongside, same era.
Multion: Benchmarking semantic map memory using multi-object navigation
S. Wani, S. Patel, U. Jain, A. Chang, and M. Savva · 2020
Cited alongside, same era.
Palette: Image-to-image diffusion models
C. Saharia, W. Chan, H. Chang, C. Lee, J. Ho, T. Salimans, D. Fleet, and M. Norouzi · 2022
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Real-world robot learning with masked visual pre-training
I. Radosavovic, T. Xiao, S. James, P. Abbeel, J. Malik, and T. Darrell · 2022
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The unsurprising effectiveness of pre-trained vision models for control
S. Parisi, A. Rajeswaran, S. Purushwalkam, and A. Gupta · 2022
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Diffusers: State-of-the-art diffusion models
P. von Platen, S. Patil, A. Lozhkov, P. Cuenca, N. Lambert, K. Rasul, M. Davaadorj, and T. Wolf · 2022
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Classifier-free diffusion guidance
J. Ho and T. Salimans · 2022
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Dynamical Distance Learning for Semi-Supervised and Unsupervised Skill Discovery
K. Hartikainen, X. Geng, T. Haarnoja, and S. Levine · 2020
Cited alongside, same era.
Denoising diffusion probabilistic models
J. Ho, A. Jain, and P. Abbeel · 2020
Cited alongside, same era.
Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
Cited alongside, same era.
Evaluating large language models trained on code
M. Chen et al · 2021
Cited alongside, same era.
The power of scale for parameter-efficient prompt tuning
X. Liu, Y. Li, C. Liang, and X. Li · 2021
Cited alongside, same era.
The power of scale for parameter-efficient prompt tuning
B. Lester, R. Al-Rfou, and N. Constant · 2021
Cited alongside, same era.
ViNG: Learning Open-World Navigation with Visual Goals
D. Shah, B. Eysenbach, G. Kahn, N. Rhinehart, and S. Levine · 2021
Cited alongside, same era.
Photorealistic text-to-image diffusion models with deep language understanding
C. Saharia, W. Chan, S. Saxena, L. Li, J. Whang, E. L. Denton, K. Ghasemipour, R. Gontijo Lopes, B. Karagol Ayan, T. Salimans, et al · 2022
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Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset Of Demonstrations For Social Navigation
H. Karnan et al · 2022
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Semantic terrain classification for off-road autonomous driving
A. Shaban, X. Meng, J. Lee, B. Boots, and D. Fox · 2022
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TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
S. Triest et al · 2022
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Spatio-temporal graph localization networks for image-based navigation
T. Niwa, S. Taguchi, and N. Hirose · 2022
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Masked autoencoders are scalable vision learners
K. He, X. Chen, S. Xie, Y. Li, P. Dollár, and R. Girshick · 2022
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Indoorsim-to-outdoorreal: Learning to navigate outdoors without any outdoor experience
J. Truong, A. Zitkovich, S. Chernova, D. Batra, T. Zhang, J. Tan, and W. Yu · 2023
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ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentation
N. Hirose, D. Shah, A. Sridhar, and S. Levine · 2023
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GNM: A General Navigation Model to Drive Any Robot
D. Shah, A. Sridhar, A. Bhorkar, N. Hirose, and S. Levine · 2023
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Rt-1: Robotics transformer for real-world control at scale
A. Brohan et al · 2023
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Palm-e: An embodied multimodal language model
D. Driess, F. Xia, M. S. M. Sajjadi, C. Lynch, A. Chowdhery, B. Ichter, A. Wahid, J. Tompson, Q. Vuong, T. Yu, W. Huang, Y. Chebotar, P. Sermanet, D. Duckworth, S. Levine, V. Vanhoucke, K. Hausman, M. Toussaint, K. Greff, A. Zeng, I. Mordatch, and P. Florence · 2023
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Vima: General robot manipulation with multimodal prompts
Y. Jiang, A. Gupta, Z. Zhang, G. Wang, Y. Dou, Y. Chen, L. Fei-Fei, A. Anandkumar, Y. Zhu, and L. Fan · 2023
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Where are we in the search for an artificial visual cortex for embodied intelligence?
A. Majumdar, K. Yadav, S. Arnaud, Y. J. Ma, C. Chen, S. Silwal, A. Jain, V.-P. Berges, P. Abbeel, J. Malik, D. Batra, Y. Lin, O. Maksymets, A. Rajeswaran, and F. Meier · 2023
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Sacson: Scalable autonomous control for social navigation
N. Hirose, D. Shah, A. Sridhar, and S. Levine · 2023
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