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Representation learning approaches for robotic manipulation have boomed in recent years.
The ecological approach to the visual perception of pictures
James J Gibson · 1978
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ImageNet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Faster R-CNN: Towards real-time object detection with region proposal networks
Shaoqing Ren, Kaiming He, Ross Girshick, and Jian Sun · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Deep visual foresight for planning robot motion
Chelsea Finn and Sergey Levine · 2017
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The ”something something” video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, Florian Hoppe, Christian Thurau, Ingo Bax, and Roland Memisevic · 2017
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, and Michael Wray · 2018
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Deep object-centric representations for generalizable robot learning
Coline Devin, Pieter Abbeel, Trevor Darrell, and Sergey Levine · 2018
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Representation learning with contrastive predictive coding
Aaron van den Oord, Yazhe Li, and Oriol Vinyals · 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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Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching
Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morena, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, and Alberto Rodriguez · 2018
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Trends and challenges in robot manipulation
Aude Billard and Danica Kragic · 2019
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BERT: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2019
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, and Karol Hausman · 2019
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Set Transformer: A framework for attention-based permutation-invariant neural networks
Juho Lee, Yoonho Lee, Jungtaek Kim, Adam Kosiorek, Seungjin Choi, and Yee Whye Teh · 2019
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2019
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Generalized intersection over union: A metric and a loss for bounding box regression
Hamid Rezatofighi, Nathan Tsoi, JunYoung Gwak, Amir Sadeghian, Ian Reid, and Silvio Savarese · 2019
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DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter
Victor Sanh, Lysandre Debut, Julien Chaumond, and Thomas Wolf · 2019
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Momentum contrast for unsupervised visual representation learning
Kaiming He, Haoqi Fan, Yuxin Wu, Saining Xie, and Ross Girshick · 2020
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Meta-World: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 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
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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, Gretchen Krueger, and Ilya Sutskever · 2021
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Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
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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, Alexander Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil 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 S Ryoo, Grecia Salazar, Pannag R Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan H Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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An unbiased look at datasets for visuo-motor pre-training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, and Abhinav Gupta · 2023
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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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CLIPort: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2021
Cited alongside, same era.
OCID-Ref: A 3d robotic dataset with embodied language for clutter scene grounding
Ke-Jyun Wang, Yun-Hsuan Liu, Hung-Ting Su, Jen-Wei Wang, Yu-Siang Wang, Winston Hsu, and Wen-Chin Chen · 2021
Cited alongside, same era.
Deformable DETR: Deformable transformers for end-to-end object detection
Xizhou Zhu, Weijie Su, Lewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2021
Cited alongside, same era.
On pre-training for visuo-motor control: Revisiting a learning-from-scratch baseline
Nicklas Hansen, Zhecheng Yuan, Yanjie Ze, Tongzhou Mu, Aravind Rajeswaran, Hao Su, Huazhe Xu, and Xiaolong Wang · 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.
Simple but effective: Clip embeddings for embodied ai
Apoorv Khandelwal, Luca Weihs, Roozbeh Mottaghi, and Aniruddha Kembhavi · 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.
EVA-02: A visual representation for neon genesis
Yuxin Fang, Quan Sun, Xinggang Wang, Tiejun Huang, Xinlong Wang, and Yue Cao · 2023
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LLaMA-Adapter v2: Parameter-efficient visual instruction model
Peng Gao, Jiaming Han, Renrui Zhang, Ziyi Lin, Shijie Geng, Aojun Zhou, Wei Zhang, Pan Lu, Conghui He, Xiangyu Yue, Hongsheng Li, and Yu Qiao · 2023
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MaskViT: Masked visual pre-training for video prediction
Agrim Gupta, Stephen Tian, Yunzhi Zhang, Jiajun Wu, Roberto Martín-Martín, and Li Fei-Fei · 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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Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 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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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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ViNT: A foundation model for visual navigation
Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, and Sergey Levine · 2023
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Policy pre-training for autonomous driving via self-supervised geometric modeling
Penghao Wu, Li Chen, Hongyang Li, Xiaosong Jia, Junchi Yan, and Yu Qiao · 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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RT-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R Sanketi, Grecia Salazar, Michael S Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J Joshi, Alex Irpan, brian ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, and Kehang Han · 2023
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Lumiere: A space-time diffusion model for video generation
Omer Bar-Tal, Hila Chefer, Omer Tov, Charles Herrmann, Roni Paiss, Shiran Zada, Ariel Ephrat, Junhwa Hur, Yuanzhen Li, Tomer Michaeli, Oliver Wang, Deqing Sun, Tali Dekel, and Inbar Mosseri · 2024
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Unleashing large-scale video generative pre-training for visual robot manipulation
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2024
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