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Large, general-purpose robotic policies trained on diverse demonstration datasets have been shown to be remarkably effective both for controlling a variety of robots in a range of different scenes, and for acquiring broad repertoires of manipulation skills.
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A. Kumar, J. Fu, M. Soh, G. Tucker, and S. Levine · 2019
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Advantage-weighted regression: Simple and scalable off-policy reinforcement learning
X. B. Peng, A. Kumar, G. Zhang, and S. Levine · 2019
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S. Fujimoto, D. Meger, and D. Precup · 2019
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Multilingual Universal Sentence Encoder for Semantic Retrieval, July 2019
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Language models are few-shot learners
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Robonet: Large-scale multi-robot learning
S. Dasari, F. Ebert, S. Tian, S. Nair, B. Bucher, K. Schmeckpeper, S. Singh, S. Levine, and C. Finn · 2020
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Language conditioned imitation learning over unstructured data
C. Lynch and P. Sermanet · 2020
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S. Levine, A. Kumar, G. Tucker, and J. Fu · 2020
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A. Kumar, A. Zhou, G. Tucker, and S. Levine · 2020
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A. Nair, M. Dalal, A. Gupta, and S. Levine · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
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On the opportunities and risks of foundation models
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Training verifiers to solve math word problems
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Offline reinforcement learning with implicit q-learning
Train offline, test online: A real robot learning benchmark
G. Zhou, V. Dean, M. K. Srirama, A. Rajeswaran, J. Pari, K. Hatch, A. Jain, T. Yu, P. Abbeel, L. Pinto, C. Finn, and A. Gupta · 2023
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Vima: General robot manipulation with multimodal prompts
Y. Jiang, A. Gupta, Z. Zhang, G. Wang, Y. Dou, Y. Chen, L. Fei-Fei, A. Anandkumar, Y. Zhu, and L. Fan · 2023
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O. Mees, J. Borja-Diaz, and W. Burgard · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, S. Feng, Y. Du, Z. Xu, E. Cousineau, B. Burchfiel, and S. Song · 2023
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I. Kostrikov, A. Nair, and S. Levine · 2021
Cited alongside, same era.
Offline rl without off-policy evaluation
D. Brandfonbrener, W. F. Whitney, R. Ranganath, and J. Bruna · 2021
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
F. Ebert, Y. Yang, K. Schmeckpeper, B. Bucher, G. Georgakis, K. Daniilidis, C. Finn, and S. Levine · 2022
Cited alongside, same era.
Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, J. Ibarz, B. Ichter, A. Irpan, T. Jackson, S. Jesmonth, N. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, I. Leal, K.-H. Lee, S. Levine, Y. Lu, U. Malla, D. Manjunath, I. Mordatch, O. Nachum, C. Parada, J. Peralta, E. Perez, K. Pertsch, J. Quiambao, K. Rao, M. Ryoo, G. Salazar, P. Sanketi, K. Sayed, J. Singh, S. Sontakke, A. Stone, C. Tan, H. Tran, V. Vanhoucke, S. Vega, Q. Vuong, F. Xia, T. Xiao, P. Xu, S. Xu, T. Yu, and B. Zitkovich · 2022
Cited alongside, same era.
Bc-z: Zero-shot task generalization with robotic imitation learning
E. Jang, A. Irpan, M. Khansari, D. Kappler, F. Ebert, C. Lynch, S. Levine, and C. Finn · 2022
Cited alongside, same era.
What matters in language conditioned robotic imitation learning over unstructured data
O. Mees, L. Hermann, and W. Burgard · 2022
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Learning language-conditioned robot behavior from offline data and crowd-sourced annotation
S. Nair, E. Mitchell, K. Chen, S. Savarese, C. Finn, et al · 2022
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Should i run offline reinforcement learning or behavioral cloning?
A. Kumar, J. Hong, A. Singh, and S. Levine · 2022
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Robotic offline rl from internet videos via value-function pre-training
C. Bhateja, D. Guo, D. Ghosh, A. Singh, M. Tomar, Q. H. Vuong, Y. Chebotar, S. Levine, and A. Kumar · 2023
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Do as i can, not as i say: Grounding language in robotic affordances
A. Brohan, Y. Chebotar, C. Finn, K. Hausman, A. Herzog, D. Ho, J. Ibarz, A. Irpan, E. Jang, R. Julian, et al · 2023
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Goal representations for instruction following: A semi-supervised language interface to control
V. Myers, A. He, K. Fang, H. Walke, P. Hansen-Estruch, C.-A. Cheng, M. Jalobeanu, A. Kolobov, A. Dragan, and S. Levine · 2023
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Droid: A large-scale in-the-wild robot manipulation dataset
A. Khazatsky, K. Pertsch, S. Nair, A. Balakrishna, S. Dasari, S. Karamcheti, S. Nasiriany, M. K. Srirama, L. Y. Chen, K. Ellis, et al · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, C. Xu, J. Luo, T. Kreiman, Y. Tan, L. Y. Chen, P. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
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Zero-shot robotic manipulation with pretrained image-editing diffusion models, 2024
K. Black, M. Nakamoto, P. Atreya, H. Walke, C. Finn, A. Kumar, and S. Levine · 2024
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Evaluating real-world robot manipulation policies in simulation
X. Li, K. Hsu, J. Gu, K. Pertsch, O. Mees, H. R. Walke, C. Fu, I. Lunawat, I. Sieh, S. Kirmani, S. Levine, J. Wu, C. Finn, H. Su, Q. Vuong, and T. Xiao · 2024
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V-star: Training verifiers for self-taught reasoners
A. Hosseini, X. Yuan, N. Malkin, A. Courville, A. Sordoni, and R. Agarwal · 2024
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Value augmented sampling for language model alignment and personalization
S. Han, I. Shenfeld, A. Srivastava, Y. Kim, and P. Agrawal · 2024
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Openvla: An open-source vision-language-action model
M. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, P. Sanketi, Q. Vuong, T. Kollar, B. Burchfiel, R. Tedrake, D. Sadigh, S. Levine, P. Liang, and C. Finn · 2024
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The ingredients for robotic diffusion transformers
S. Dasari, O. Mees, S. Zhao, M. K. Srirama, and S. Levine · 2024
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Stop regressing: Training value functions via classification for scalable deep rl
J. Farebrother, J. Orbay, Q. Vuong, A. A. Taïga, Y. Chebotar, T. Xiao, A. Irpan, S. Levine, P. S. Castro, A. Faust, et al · 2024
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Q-probe: A lightweight approach to reward maximization for language models
K. Li, S. Jelassi, H. Zhang, S. Kakade, M. Wattenberg, and D. Brandfonbrener · 2024
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Cal-QL: Calibrated offline rl pre-training for efficient online fine-tuning
M. Nakamoto, Y. Zhai, A. Singh, M. S. Mark, Y. Ma, C. Finn, A. Kumar, and S. Levine · 2024
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Lelan: Learning a language-conditioned navigation policy from in-the-wild video
N. Hirose, C. Glossop, A. Sridhar, D. Shah, O. Mees, and S. Levine · 2024
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Prismatic vlms: Investigating the design space of visually-conditioned language models
S. Karamcheti, S. Nair, A. Balakrishna, P. Liang, T. Kollar, and D. Sadigh · 2024
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