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Recent large vision-language-action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data.
Decoupled weight decay regularization
I Loshchilov · 2017
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Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation, 2018
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, 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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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
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Learning latent plans from play
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, and Pierre Sermanet · 2020
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Shared control templates for assistive robotics
Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp, and Jörn Vogel · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Diffusion models beat gans on image synthesis
Prafulla Dhariwal and Alexander Nichol · 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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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Dall·e: Creating images from text, 2021
OpenAI · 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, et al · 2021
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Stable diffusion: High-resolution image synthesis with latent diffusion models, 2021
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Tim Schmidt · 2021
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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, Alex Herzog, Jasmine Hsu, et al · 2022
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From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2022
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Chatgpt, 2022
OpenAI · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Robotic skill acquisition via instruction augmentation with vision-language models
Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, and Jonathan Tompson · 2022
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Language control diffusion: Efficiently scaling through space, time, and tasks
Edwin Zhang, Yujie Lu, William Wang, and Amy Zhang · 2022
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Hydra: Hybrid robot actions for imitation learning
Suneel Belkhale, Yuchen Cui, and Dorsa Sadigh · 2023
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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Robocat: A self-improving foundation agent for robotic manipulation
Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X Lee, Maria Bauza, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, et al · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Playfusion: Skill acquisition via diffusion from language-annotated play
Lili Chen, Shikhar Bahl, and Deepak Pathak · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Clvr jaco play dataset, 2023
Shivin Dass, Jullian Yapeter, Jesse Zhang, Jiahui Zhang, Karl Pertsch, Stefanos Nikolaidis, and Joseph J. Lim · 2023
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Palm-e: An embodied multimodal language model
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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Rh20t: A robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2023
Cited alongside, same era.
Bridgedata v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 2023
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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 · 2023
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Unifying diffusion models with action detection transformers for multi-task robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, and Katerina Fragkiadaki · 2023
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Train offline, test online: A real robot learning benchmark
Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama, Aravind Rajeswaran, Jyothish Pari, Kyle Hatch, Aryan Jain, Tianhe Yu, Pieter Abbeel, Lerrel Pinto, et al · 2023
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Roboagent: Generalization and efficiency in robot manipulation via semantic augmentations and action chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2024
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Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 2023
Cited alongside, same era.
Scaling up and distilling down: Language-guided robot skill acquisition
Huy Ha, Pete Florence, and Shuran Song · 2023
Cited alongside, same era.
Furniturebench: Reproducible real-world benchmark for long-horizon complex manipulation
Minho Heo, Youngwoon Lee, Doohyun Lee, and Joseph J Lim · 2023
Cited alongside, same era.
An embodied generalist agent in 3d world
Jiangyong Huang, Silong Yong, Xiaojian Ma, Xiongkun Linghu, Puhao Li, Yan Wang, Qing Li, Song-Chun Zhu, Baoxiong Jia, and Siyuan Huang · 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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Visual instruction tuning, 2023
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Interactive language: Talking to robots in real time
Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, and Pete Florence · 2023
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Information maximizing curriculum: A curriculum-based approach for learning versatile skills
Denis Blessing, Onur Celik, Xiaogang Jia, Moritz Reuss, Maximilian Li, Rudolf Lioutikov, and Gerhard Neumann · 2024
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Video generation models as world simulators
Tim Brooks, Bill Peebles, Connor Holmes, Will DePue, Yufei Guo, Li Jing, David Schnurr, Joe Taylor, Troy Luhman, Eric Luhman, Clarence Ng, Ricky Wang, and Aditya Ramesh · 2024
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Diffusion forcing: Next-token prediction meets full-sequence diffusion
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3d diffuser actor: Policy diffusion with 3d scene representations
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Droid: A large-scale in-the-wild robot manipulation dataset
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Openvla: An open-source vision-language-action model
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Libero: Benchmarking knowledge transfer for lifelong robot learning
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Language-conditioned imitation learning with base skill priors under unstructured data
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Gr-mg: Leveraging partially-annotated data via multi-modal goal-conditioned policy
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