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Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks.
Runaround
Isaac Asimov · 1942
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours, 2015
Lerrel Pinto and Abhinav Gupta · 2015
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection, 2016
Sergey Levine, Peter Pastor, Alex Krizhevsky, and Deirdre Quillen · 2016
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More than a million ways to be pushed: A high-fidelity experimental dataset of planar pushing, 2016
Kuan-Ting Yu, Maria Bauza, Nima Fazeli, and Alberto Rodriguez · 2016
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Daniel Cer, Yinfei Yang, Sheng yi Kong, Nan Hua, Nicole Lyn Untalan Limtiaco, Rhomni St. John, Noah Constant, Mario Guajardo-Céspedes, Steve Yuan, Chris Tar, Yun hsuan Sung, Brian Strope, and Ray Kurzweil · 2018
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Visual foresight: Model-based deep reinforcement learning for vision-based robotic control, 2018
Frederik Ebert, Chelsea Finn, Sudeep Dasari, Annie Xie, Alex Lee, and Sergey Levine · 2018
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Robot learning in homes: Improving generalization and reducing dataset bias, 2018
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Gandhi, and Lerrel Pinto · 2018
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Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, and Sergey Levine · 2018
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Multiple interactions made easy (mime): Large scale demonstrations data for imitation, 2018
Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, and Abhinav Gupta · 2018
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Hg-dagger: Interactive imitation learning with human experts
Michael Kelly, Chelsea Sidrane, Katherine Driggs-Campbell, and Mykel J Kochenderfer · 2019
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Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity
Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, and Li Fei-Fei · 2019
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Leveraging procedural generation to benchmark reinforcement learning
Karl Cobbe, Chris Hesse, Jacob Hilton, and John Schulman · 2020
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Robonet: Large-scale multi-robot learning, 2020
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2020
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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 · 2021
Cited alongside, same era.
Mt-opt: Continuous multi-task robotic reinforcement learning at scale, 2021
Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, and Karol Hausman · 2021
Cited alongside, same era.
Do as i can and not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
Cited alongside, same era.
Constitutional ai: Harmlessness from ai feedback
Yuntao Bai, Saurav Kadavath, Sandipan Kundu, Amanda Askell, Jackson Kernion, Andy Jones, Anna Chen, Anna Goldie, Azalia Mirhoseini, Cameron McKinnon, et al · 2022
Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence · 2023
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Physically grounded vision-language models for robotic manipulation, 2023
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, and Dorsa Sadigh · 2023
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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 · 2023
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Grounding language with visual affordances over unstructured data
Oier Mees, Jessica Borja-Diaz, and Wolfram Burgard · 2023
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Cited alongside, same era.
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
Cited alongside, same era.
Pali: A jointly-scaled multilingual language-image model
Xi Chen, Xiao Wang, Soravit Changpinyo, AJ Piergiovanni, Piotr Padlewski, Daniel Salz, Sebastian Goodman, Adam Grycner, Basil Mustafa, Lucas Beyer, et al · 2022
Cited alongside, same era.
Fleet-dagger: Interactive robot fleet learning with scalable human supervision, 2022
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, and Ken Goldberg · 2022
Cited alongside, same era.
Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2022
Cited alongside, same era.
Grasp learning: Models, methods, and performance, 2022
Robert Platt · 2022
Cited alongside, same era.
React: Synergizing reasoning and acting in language models
Shunyu Yao, Jeffrey Zhao, Dian Yu, Nan Du, Izhak Shafran, Karthik Narasimhan, and Yuan Cao · 2022
Cited alongside, same era.
How to prompt your robot: A promptbook for manipulation skills with code as policies
Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jake Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, and Andy Zeng · 2023
Cited alongside, same era.
Robocat: A self-improving foundation agent for robotic manipulation, 2023
Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X. Lee, Maria Bauza, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, Antoine Laurens, Claudio Fantacci, Valentin Dalibard, Martina Zambelli, Murilo Martins, Rugile Pevceviciute, Michiel Blokzijl, Misha Denil, Nathan Batchelor, Thomas Lampe, Emilio Parisotto, Konrad Żołna, Scott Reed, Sergio Gómez Colmenarejo, Jon Scholz, Abbas Abdolmaleki, Oliver Groth, Jean-Baptiste Regli, Oleg Sushkov, Tom Rothörl, José Enrique Chen, Yusuf Aytar, Dave Barker, Joy Ortiz, Martin Riedmiller, Jost Tobias Springenberg, Raia Hadsell, Francesco Nori, and Nicolas Heess · 2023
Cited alongside, same era.
Joon Sung Park, Joseph C O’Brien, Carrie J Cai, Meredith Ringel Morris, Percy Liang, and Michael S Bernstein · 2023
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Sayplan: Grounding large language models using 3d scene graphs for scalable task planning
Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid, and Niko Suenderhauf · 2023
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Reflexion: Language agents with verbal reinforcement learning
Noah Shinn, Federico Cassano, Beck Labash, Ashwin Gopinath, Karthik Narasimhan, and Shunyu Yao · 2023
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D4: Improving llm pretraining via document de-duplication and diversification
Kushal Tirumala, Daniel Simig, Armen Aghajanyan, and Ari Morcos · 2023
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Chatgpt for robotics: Design principles and model abilities
Sai Vemprala, Rogerio Bonatti, Arthur Bucker, and Ashish Kapoor · 2023
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Voyager: An open-ended embodied agent with large language models
Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, and Anima Anandkumar · 2023
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Zhou Xian, Theophile Gervet, Zhenjia Xu, Yi-Ling Qiao, and Tsun-Hsuan Wang · 2023
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Robotic skill acquistion via instruction augmentation with vision-language models
Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, and Jonathan Tompson · 2023
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Flexcap: Generating rich, localized, and flexible captions in images, 2024
Debidatta Dwibedi, Vidhi Jain, Jonathan Tompson, Andrew Zisserman, and Yusuf Aytar · 2024
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