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Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies.
2010
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2015
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C. Lynch and P. Sermanet, “Language conditioned imitation learning over unstructured data,” Robotics: Science and Systems , 2021
2021
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L. Chen, K. Lu, A. Rajeswaran, K. Lee, A. Grover, M. Laskin, P. Abbeel, A. Srinivas, and I. Mordatch, “Decision transformer: Reinforcement learning via sequence modeling,” in Neural Information Processing Systems , 2021
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M. Janner, Q. Li, and S. Levine, “Offline reinforcement learning as one big sequence modeling problem,” in Advances in Neural Information Processing Systems , 2021
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A. Radford, J. W. Kim, C. Hallacy, A. Ramesh, G. Goh, S. Agarwal, G. Sastry, A. Askell, P. Mishkin, J. Clark, G. Krueger, and I. Sutskever, “Learning transferable visual models from natural language supervision,” 2021
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M. Shridhar, L. Manuelli, and D. Fox, “Cliport: What and where pathways for robotic manipulation,” 2021
2021
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2022
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M. Ahn, A. Brohan, N. Brown, Y. Chebotar, O. Cortes, B. David, C. Finn, C. Fu, K. Gopalakrishnan, K. Hausman, A. Herzog, D. Ho, J. Hsu, J. Ibarz, B. Ichter, A. Irpan, E. Jang, R. J. Ruano, K. Jeffrey, S. Jesmonth, N. J. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, K.-H. Lee, S. Levine, Y. Lu, L. Luu, C. Parada, P. Pastor, J. Quiambao, K. Rao, J. Rettinghouse, D. Reyes, P. Sermanet, N. Sievers, C. Tan, A. Toshev, V. Vanhoucke, F. Xia, T. Xiao, P. Xu, S. Xu, M. Yan, and A. Zeng, “Do as I can, not as I say: Grounding language in robotic affordances,” Apr. 2022
2022
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W. Huang, P. Abbeel, D. Pathak, and I. Mordatch, “Language models as zero-shot planners: Extracting actionable knowledge for embodied agents,” Jan. 2022
2022
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J. Liang, W. Huang, F. Xia, P. Xu, K. Hausman, B. Ichter, P. Florence, and A. Zeng, “Code as policies: Language model programs for embodied control,” Sept. 2022
2022
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C. Lynch, A. Wahid, J. Tompson, T. Ding, J. Betker, R. Baruch, T. Armstrong, and P. Florence, “Interactive language: Talking to robots in real time,” Oct. 2022
2022
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2022
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E. J. Hu, Y. Shen, P. Wallis, Z. Allen-Zhu, Y. Li, S. Wang, L. Wang, and W. Chen, “LoRA: Low-rank adaptation of large language models,” in International Conference on Learning Representations , 2022. [Online]. Available: https://openreview.net/forum?id=nZeVKeeFYf9
2022
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2022
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S. Nair, A. Rajeswaran, V. Kumar, C. Finn, and A. Gupta, “R3m: A universal visual representation for robot manipulation,” in Conference on Robot Learning , 2022. [Online]. Available: https://api.semanticscholar.org/CorpusID:247618840
2022
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A. B. et al., “Rt-2: Vision-language-action models transfer web knowledge to robotic control,” 2023
2023
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OpenAI, “Gpt-4 technical report,” 2023
2023
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H. Touvron, T. Lavril, G. Izacard, X. Martinet, M.-A. Lachaux, T. Lacroix, B. Rozière, N. Goyal, E. Hambro, F. Azhar, A. Rodriguez, A. Joulin, E. Grave, and G. Lample, “Llama: Open and efficient foundation language models,” 2023
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J. Li, D. Li, S. Savarese, and S. C. H. Hoi, “Blip-2: Bootstrapping language-image pre-training with frozen image encoders and large language models,” in International Conference on Machine Learning , 2023
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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, “PaLM-E: An embodied multimodal language model,” Mar. 2023
2023
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2023
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I. Singh, V. Blukis, A. Mousavian, A. Goyal, D. Xu, J. Tremblay, D. Fox, J. Thomason, and A. Garg, “Progprompt: Generating situated robot task plans using large language models,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2023, pp. 11 523–11 530
2023
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B. Li, P. Wu, P. Abbeel, and J. Malik, “Interactive task planning with language models,” 2023
2023
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2023
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A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, P. Dollár, and R. B. Girshick, “Segment anything,” 2023 IEEE/CVF International Conference on Computer Vision (ICCV) , pp. 3992–4003, 2023. [Online]. Available: https://api.semanticscholar.org/CorpusID:257952310
2023
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P. Wu, A. Majumdar, K. Stone, Y. Lin, I. Mordatch, P. Abbeel, and A. Rajeswaran, “Masked trajectory models for prediction, representation, and control,” in International Conference on Machine Learning , 2023
2023
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2023
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