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Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI.
A markovian decision process
Richard Bellman · 1957
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An analysis of linear models, linear value-function approximation, and feature selection for reinforcement learning
Ronald Parr, Lihong Li, Gavin Taylor, Christopher Painter-Wakefield, and Michael L Littman · 2008
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Deep reinforcement learning in large discrete action spaces
Gabriel Dulac-Arnold, Richard Evans, Hado van Hasselt, Peter Sunehag, Timothy Lillicrap, Jonathan Hunt, Timothy Mann, Theophane Weber, Thomas Degris, and Ben Coppin · 2015
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Neural discrete representation learning
Aaron Van Den Oord, Oriol Vinyals, et al · 2017
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, R. Julian, Karol Hausman, Chelsea Finn, and S. Levine · 2019
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BabyAI: First steps towards grounded language learning with a human in the loop
Maxime Chevalier-Boisvert, Dzmitry Bahdanau, Salem Lahlou, Lucas Willems, Chitwan Saharia, Thien Huu Nguyen, and Yoshua Bengio · 2019
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Residual reinforcement learning for robot control
Tobias Johannink, Shikhar Bahl, Ashvin Nair, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2019
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Huggingface’s transformers: State-of-the-art natural language processing
Thomas Wolf, Lysandre Debut, Victor Sanh, Julien Chaumond, Clement Delangue, Anthony Moi, Pierric Cistac, Tim Rault, Rémi Louf, Morgan Funtowicz, et al · 2019
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Pytorch: An imperative style, high-performance deep learning library
Adam Paszke, Sam Gross, Francisco Massa, Adam Lerer, James Bradbury, Gregory Chanan, Trevor Killeen, Zeming Lin, Natalia Gimelshein, Luca Antiga, et al · 2019
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Robots that use language
Stefanie Tellex, Nakul Gopalan, Hadas Kress-Gazit, and Cynthia Matuszek · 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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Generalization to new actions in reinforcement learning
Ayush Jain, Andrew Szot, and Joseph J Lim · 2020
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Mastering atari, go, chess and shogi by planning with a learned model
Julian Schrittwieser, Ioannis Antonoglou, Thomas Hubert, Karen Simonyan, Laurent Sifre, Simon Schmitt, Arthur Guez, Edward Lockhart, Demis Hassabis, Thore Graepel, et al · 2020
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Deepspeed: System optimizations enable training deep learning models with over 100 billion parameters
Jeff Rasley, Samyam Rajbhandari, Olatunji Ruwase, and Yuxiong He · 2020
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Soundstream: An end-to-end neural audio codec
Neil Zeghidour, Alejandro Luebs, Ahmed Omran, Jan Skoglund, and Marco Tagliasacchi · 2021
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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, et al · 2021
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, et al · 2021
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Finetuned language models are zero-shot learners
Jason Wei, Maarten Bosma, Vincent Y Zhao, Kelvin Guu, Adams Wei Yu, Brian Lester, Nan Du, Andrew M Dai, and Quoc V Le · 2021
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Procedural generalization by planning with self-supervised world models
Ankesh Anand, Jacob Walker, Yazhe Li, Eszter Vértes, Julian Schrittwieser, Sherjil Ozair, Théophane Weber, and Jessica B Hamrick · 2021
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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 · 2022
Cited alongside, same era.
Socratic models: Composing zero-shot multimodal reasoning with language
Andy Zeng, Maria Attarian, Brian Ichter, Krzysztof Choromanski, Adrian Wong, Stefan Welker, Federico Tombari, Aveek Purohit, Michael Ryoo, Vikas Sindhwani, et al · 2022
Cited alongside, same era.
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, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 2022
Cited alongside, same era.
Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 2022
Cited alongside, same era.
Large language models as generalizable policies for embodied tasks
Andrew Szot, Max Schwarzer, Harsh Agrawal, Bogdan Mazoure, Walter Talbott, Katherine Metcalf, Natalie Mackraz, Devon Hjelm, and Alexander Toshev · 2023
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Shikra: Unleashing multimodal llm’s referential dialogue magic
Keqin Chen, Zhao Zhang, Weili Zeng, Richong Zhang, Feng Zhu, and Rui Zhao · 2023
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Lisa: Reasoning segmentation via large language model
Xin Lai, Zhuotao Tian, Yukang Chen, Yanwei Li, Yuhui Yuan, Shu Liu, and Jiaya Jia · 2023
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Llava-grounding: Grounded visual chat with large multimodal models
Hao Zhang, Hongyang Li, Feng Li, Tianhe Ren, Xueyan Zou, Shilong Liu, Shijia Huang, Jianfeng Gao, Lei Zhang, Chunyuan Li, et al · 2023
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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.
Behavior transformers: Cloning
Nur Muhammad Shafiullah, Zichen Cui, Ariuntuya Arty Altanzaya, and Lerrel Pinto · 2022
Cited alongside, same era.
From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2022
Cited alongside, same era.
Autoregressive image generation using residual quantization
Doyup Lee, Chiheon Kim, Saehoon Kim, Minsu Cho, and Wook-Shin Han · 2022
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.
Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gomez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, et al · 2022
Cited alongside, same era.
Habitat rearrangement challenge 2022
Andrew Szot, Karmesh Yadav, Alex Clegg, Vincent-Pierre Berges, Aaron Gokaslan, Angel Chang, Manolis Savva, Zsolt Kira, and Dhruv Batra · 2022
Cited alongside, same era.
Qwen-vl: A frontier large vision-language model with versatile abilities
Jinze Bai, Shuai Bai, Shusheng Yang, Shijie Wang, Sinan Tan, Peng Wang, Junyang Lin, Chang Zhou, and Jingren Zhou · 2023
Cited alongside, same era.
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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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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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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Tidybot: Personalized robot assistance with large language models
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, and Thomas Funkhouser · 2023
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Generalized planning in pddl domains with pretrained large language models
Tom Silver, Soham Dan, Kavitha Srinivas, Joshua B Tenenbaum, Leslie Pack Kaelbling, and Michael Katz · 2023
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Unleashing the power of pre-trained language models for offline reinforcement learning
Ruizhe Shi, Yuyao Liu, Yanjie Ze, Simon S Du, and Huazhe Xu · 2023
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Grounding large language models in interactive environments with online reinforcement learning
Thomas Carta, Clément Romac, Thomas Wolf, Sylvain Lamprier, Olivier Sigaud, and Pierre-Yves Oudeyer · 2023
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Multitask multimodal prompted training for interactive embodied task completion
Georgios Pantazopoulos, Malvina Nikandrou, Amit Parekh, Bhathiya Hemanthage, Arash Eshghi, Ioannis Konstas, Verena Rieser, Oliver Lemon, and Alessandro Suglia · 2023
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Generative multimodal models are in-context learners
Quan Sun, Yufeng Cui, Xiaosong Zhang, Fan Zhang, Qiying Yu, Zhengxiong Luo, Yueze Wang, Yongming Rao, Jingjing Liu, Tiejun Huang, et al · 2023
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Scaling robot learning with semantically imagined experience
Tianhe Yu, Ted Xiao, Austin Stone, Jonathan Tompson, Anthony Brohan, Su Wang, Jaspiar Singh, Clayton Tan, Jodilyn Peralta, Brian Ichter, et al · 2023
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Jointly training large autoregressive multimodal models
Emanuele Aiello, Lili Yu, Yixin Nie, Armen Aghajanyan, and Barlas Oguz · 2023
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Is imitation all you need? generalized decision-making with dual-phase training
Yao Wei, Yanchao Sun, Ruijie Zheng, Sai Vemprala, Rogerio Bonatti, Shuhang Chen, Ratnesh Madaan, Zhongjie Ba, Ashish Kapoor, and Shuang Ma · 2023
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Mm1: Methods, analysis & insights from multimodal llm pre-training
Brandon McKinzie, Zhe Gan, Jean-Philippe Fauconnier, Sam Dodge, Bowen Zhang, Philipp Dufter, Dhruti Shah, Xianzhi Du, Futang Peng, Floris Weers, et al · 2024
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Ferret: Refer and ground anything anywhere at any granularity
Haoxuan You, Haotian Zhang, Zhe Gan, Xianzhi Du, Bowen Zhang, Zirui Wang, Liangliang Cao, Shih-Fu Chang, and Yinfei Yang · 2024
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Behavior generation with latent actions
Seungjae Lee, Yibin Wang, Haritheja Etukuru, H Jin Kim, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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