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Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations.
Sgdr: Stochastic gradient descent with warm restarts
Ilya Loshchilov and Frank Hutter · 2016
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Deep visual foresight for planning robot motion
Chelsea Finn and Sergey Levine · 2017
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Improving language understanding by generative pre-training
Alec Radford, Karthik Narasimhan, Tim Salimans, Ilya Sutskever, et al · 2018
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Time-contrastive networks: Self-supervised learning from video
Pierre Sermanet, Corey Lynch, Yevgen Chebotar, Jasmine Hsu, Eric Jang, Stefan Schaal, Sergey Levine, and Google Brain · 2018
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Generative pretraining from pixels
Mark Chen, Alec Radford, Rewon Child, Jeffrey Wu, Heewoo Jun, David Luan, and Ilya Sutskever · 2020
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Mastering atari with discrete world models
Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi, and Jimmy Ba · 2020
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CURL: Contrastive unsupervised representations for reinforcement learning
Michael Laskin, Aravind Srinivas, and Pieter Abbeel · 2020
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Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
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Learning to see before learning to act: Visual pre-training for manipulation
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, and Tsung-Yi Lin · 2020
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Decision Transformer: Reinforcement learning via sequence modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran, Kimin Lee, Aditya Grover, Misha Laskin, Pieter Abbeel, Aravind Srinivas, and Igor Mordatch · 2021
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Perceiver: General perception with iterative attention
Andrew Jaegle, Felix Gimeno, Andy Brock, Oriol Vinyals, Andrew Zisserman, and Joao Carreira · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Pretraining representations for data-efficient reinforcement learning
Max Schwarzer, Nitarshan Rajkumar, Michael Noukhovitch, Ankesh Anand, Laurent Charlin, R Devon Hjelm, Philip Bachman, and Aaron C Courville · 2021
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VideoGPT: Video generation using vq-vae and transformers
Wilson Yan, Yunzhi Zhang, Pieter Abbeel, and Aravind Srinivas · 2021
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Do As I Can, Not As I Say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, et al · 2022
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Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos
Bowen Baker, Ilge Akkaya, Peter Zhokov, Joost Huizinga, Jie Tang, Adrien Ecoffet, Brandon Houghton, Raul Sampedro, and Jeff Clune · 2022
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RT-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
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Ego4D: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
Cited alongside, same era.
MaskViT: Masked visual pre-training for video prediction
Agrim Gupta, Stephen Tian, Yunzhi Zhang, Jiajun Wu, Roberto Martín-Martín, and Li Fei-Fei · 2022
Cited alongside, same era.
Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
Cited alongside, same era.
Inner Monologue: Embodied reasoning through planning with language models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, et al · 2022
Cited alongside, same era.
BC-Z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
Diffusion Policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
Closest in time.
PaLM-E: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
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Learning universal policies via text-guided video generation
Yilun Du, Mengjiao Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Video prediction models as rewards for reinforcement learning
Alejandro Escontrela, Ademi Adeniji, Wilson Yan, Ajay Jain, Xue Bin Peng, Ken Goldberg, Youngwoon Lee, Danijar Hafner, and Pieter Abbeel · 2023
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Cited alongside, same era.
VIMA: General robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2022
Cited alongside, same era.
Pre-training for robots: Offline RL enables learning new tasks from a handful of trials
Aviral Kumar, Anikait Singh, Frederik Ebert, Yanlai Yang, Chelsea Finn, and Sergey Levine · 2022
Cited alongside, same era.
Masked autoencoding for scalable and generalizable decision making
Fangchen Liu, Hao Liu, Aditya Grover, and Pieter Abbeel · 2022
Cited alongside, same era.
Interactive Language: Talking to robots in real time
Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, and Pete Florence · 2022
Cited alongside, same era.
Vip: Towards universal visual reward and representation via value-implicit pre-training
Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, and Amy Zhang · 2022
Cited alongside, same era.
R3M: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
Cited alongside, same era.
The unsurprising effectiveness of pre-trained vision models for control
Simone Parisi, Aravind Rajeswaran, Senthil Purushwalkam, and Abhinav Gupta · 2022
Cited alongside, same era.
Instruction-driven history-aware policies for robotic manipulations
Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, and Cordelia Schmid · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
Huy Ha, Pete Florence, and Shuran Song · 2023
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Exploring visual pre-training for robot manipulation: Datasets, models and methods
Ya Jing, Xuelin Zhu, Xingbin Liu, Qie Sima, Taozheng Yang, Yunhai Feng, and Tao Kong · 2023
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Language-driven representation learning for robotics
Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, and Percy Liang · 2023
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Spawnnet: Learning generalizable visuomotor skills from pre-trained networks
Xingyu Lin, John So, Sashwat Mahalingam, Fangchen Liu, and Pieter Abbeel · 2023
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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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GPT-4 technical report
R OpenAI · 2023
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Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Masked world models for visual control
Younggyo Seo, Danijar Hafner, Hao Liu, Fangchen Liu, Stephen James, Kimin Lee, and Pieter Abbeel · 2023
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LM-Nav: Robotic navigation with large pre-trained models of language, vision, and action
Dhruv Shah, Błażej Osiński, Sergey Levine, et al · 2023
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Perceiver-Actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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SMART: Self-supervised multi-task pretraining with control transformers
Yanchao Sun, Shuang Ma, Ratnesh Madaan, Rogerio Bonatti, Furong Huang, and Ashish Kapoor · 2023
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PLEX: Making the most of the available data for robotic manipulation pretraining
Garrett Thomas, Ching-An Cheng, Ricky Loynd, Vibhav Vineet, Mihai Jalobeanu, and Andrey Kolobov · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Temporally consistent transformers for video generation, 2023
Wilson Yan, Danijar Hafner, Stephen James, and Pieter Abbeel · 2023
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