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Large-scale multi-task robotic manipulation systems often rely on text to specify the task.
One-shot imitation learning
Yan Duan, Marcin Andrychowicz, Bradly Stadie, OpenAI Jonathan Ho, Jonas Schneider, Ilya Sutskever, Pieter Abbeel, and Wojciech Zaremba · 2017
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Imitation from observation: Learning to imitate behaviors from raw video via context translation
Yuxuan Liu, Abhishek Gupta, Pieter Abbeel, and Sergey Levine · 2018
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Visual reinforcement learning with imagined goals
Ashvin Nair, Vitchyr Pong, Murtaza Dalal, Shikhar Bahl, Steven Lin, and Sergey Levine · 2018
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SFV: reinforcement learning of physical skills from videos
Xue Bin Peng, Angjoo Kanazawa, Jitendra Malik, Pieter Abbeel, and Sergey Levine · 2018
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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Goal-conditioned imitation learning
Yiming Ding, Carlos Florensa, Mariano Phielipp, and Pieter Abbeel · 2019
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Temporal Cycle-Consistency learning
Debidatta Dwibedi, Yusuf Aytar, Jonathan Tompson, Pierre Sermanet, and Andrew Zisserman · 2019
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HowTo100M: Learning a Text-Video Embedding by Watching Hundred Million Narrated Video Clips
Antoine Miech, Dimitri Zhukov, Jean-Baptiste Alayrac, Makarand Tapaswi, Ivan Laptev, and Josef Sivic · 2019
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Third-Person visual imitation learning via decoupled hierarchical controller
Pratyusha Sharma, Deepak Pathak, and Abhinav Gupta · 2019
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PIQA: Reasoning about Physical Commonsense in Natural Language
Yonatan Bisk, Rowan Zellers, Ronan Le Bras, Jianfeng Gao, and Yejin Choi · 2020
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Big self-supervised models are strong semi-supervised learners
Ting Chen, Simon Kornblith, Kevin Swersky, Mohammad Norouzi, and Geoffrey E Hinton · 2020
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Online learning of object representations by appearance space feature alignment
Sören Pirk, Mohi Khansari, Yunfei Bai, Corey Lynch, and Pierre Sermanet · 2020
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Reinforcement learning with videos: Combining offline observations with interaction
Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, and Chelsea Finn · 2020
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AVID: Learning Multi-Stage tasks via Pixel-Level translation of human videos
Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, and Sergey Levine · 2020
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Goal-conditioned reinforcement learning with imagined subgoals
Elliot Chane-Sane, Cordelia Schmid, and Ivan Laptev · 2021
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Transformers for one-shot visual imitation
Sudeep Dasari and Abhinav Gupta · 2021
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2021
Cited alongside, same era.
Goal-Conditioned End-to-End visuomotor control for versatile skill primitives
Oliver Groth, Chia-Man Hung, Andrea Vedaldi, and Ingmar Posner · 2021
Cited alongside, same era.
Learning object manipulation skills via approximate state estimation from real videos
Vladimír Petrík, Makarand Tapaswi, Ivan Laptev, and Josef Sivic · 2021
Cited alongside, same era.
Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, Roman Ring, Eliza Rutherford, Serkan Cabi, Tengda Han, Zhitao Gong, Sina Samangooei, Marianne Monteiro, Jacob Menick, Sebastian Borgeaud, Andrew Brock, Aida Nematzadeh, Sahand Sharifzadeh, Mikolaj Binkowski, Ricardo Barreira, Oriol Vinyals, Andrew Zisserman, and Karen Simonyan · 2022
Cited alongside, same era.
Human-to-robot imitation in the wild
Shikhar Bahl, Abhinav Gupta, and Deepak Pathak · 2022
Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Joshua B. Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Transformers are adaptable task planners
Vidhi Jain, Yixin Lin, Eric Undersander, Yonatan Bisk, and Akshara Rai · 2023
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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 · 2023
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Navigating to objects specified by images
Jacob Krantz, Theophile Gervet, Karmesh Yadav, Austin Wang, Chris Paxton, Roozbeh Mottaghi, Dhruv Batra, Jitendra Malik, Stefan Lee, and Devendra Singh Chaplot · 2023
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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 · 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, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
Cited alongside, same era.
Perceiver IO: A general architecture for structured inputs & outputs
Andrew Jaegle, Sebastian Borgeaud, Jean-Baptiste Alayrac, Carl Doersch, Catalin Ionescu, David Ding, Skanda Koppula, Daniel Zoran, Andrew Brock, Evan Shelhamer, Olivier J Henaff, Matthew Botvinick, Andrew Zisserman, Oriol Vinyals, and Joao Carreira · 2022
Cited alongside, same era.
Graph inverse reinforcement learning from diverse videos, 2022
Sateesh Kumar, Jonathan Zamora, Nicklas Hansen, Rishabh Jangir, and Xiaolong Wang · 2022
Cited alongside, same era.
Towards more generalizable one-shot visual imitation learning
Zhao Mandi, Fangchen Liu, Kimin Lee, and Pieter Abbeel · 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.
Coca: Contrastive captioners are image-text foundation models
Jiahui Yu, Zirui Wang, Vijay Vasudevan, Legg Yeung, Mojtaba Seyedhosseini, and Yonghui Wu · 2022
Cited alongside, same era.
Xirl: Cross-embodiment inverse reinforcement learning
Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, and Debidatta Dwibedi · 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 · 2023
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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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Spatial-Language Attention Policies for Efficient Robot Learning
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, and Chris Paxton · 2023
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MUTEX: Learning unified policies from multimodal task specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 2023
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Open-World object manipulation using pre-trained Vision-Language models
Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, Chelsea Finn, and Karol Hausman · 2023
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Mimicplay: Long-horizon imitation learning by watching human play
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, and Anima Anandkumar · 2023
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2023
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XSkill: Cross embodiment skill discovery
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, and Shuran Song · 2023
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HomeRobot: Open-Vocabulary Mobile Manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, and Chris Paxton · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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Learning Fine-Grained bimanual manipulation with Low-Cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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