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Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence.
Deep unsupervised learning using nonequilibrium thermodynamics
Jascha Sohl-Dickstein, Eric Weiss, Niru Maheswaranathan, and Surya Ganguli · 2015
Earlier work this paper cites.
Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours
Lerrel Pinto and Abhinav Gupta · 2016
Earlier work this paper cites.
More than a million ways to be pushed. a high-fidelity experimental dataset of planar pushing
Kuan-Ting Yu, Maria Bauza, Nima Fazeli, and Alberto Rodriguez · 2016
Earlier work this paper cites.
Outrageously large neural networks: The sparsely-gated mixture-of-experts layer
Noam Shazeer, Azalia Mirhoseini, Krzysztof Maziarz, Andy Davis, Quoc Le, Geoffrey Hinton, and Jeff Dean · 2017
Earlier work this paper cites.
Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Ł ukasz Kaiser, and Illia Polosukhin · 2017
Earlier work this paper cites.
Robot learning in homes: Improving generalization and reducing dataset bias
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Prakashchand Gandhi, and Lerrel Pinto · 2018
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Scalable deep reinforcement learning for vision-based robotic manipulation
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, et al · 2018
Earlier work this paper cites.
Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
Sergey Levine, Peter Pastor, Alex Krizhevsky, Julian Ibarz, and Deirdre Quillen · 2018
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RoboTurk: A crowdsourcing platform for robotic skill learning through imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, et al · 2018
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Scaling data-driven robotics with reward sketching and batch reinforcement learning
Serkan Cabi, Sergio Gómez Colmenarejo, Alexander Novikov, Ksenia Konyushkova, Scott Reed, Rae Jeong, Konrad Zolna, Yusuf Aytar, David Budden, Mel Vecerik, et al · 2019
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Distilbert, a distilled version of bert: Smaller, faster, cheaper and lighter
V Sanh · 2019
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Fast transformer decoding: One write-head is all you need
Noam Shazeer · 2019
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Gshard: Scaling giant models with conditional computation and automatic sharding
Dmitry Lepikhin, HyoukJoong Lee, Yuanzhong Xu, Dehao Chen, Orhan Firat, Yanping Huang, Maxim Krikun, Noam Shazeer, and Zhifeng Chen · 2020
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
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Highly accurate protein structure prediction with alphafold
John Jumper, Richard Evans, Alexander Pritzel, Tim Green, Michael Figurnov, Olaf Ronneberger, Kathryn Tunyasuvunakool, Russ Bates, Augustin Žídek, Anna Potapenko, et al · 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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How to train your vit? data, augmentation, and regularization in vision transformers
Andreas Steiner, Alexander Kolesnikov, Xiaohua Zhai, Ross Wightman, Jakob Uszkoreit, and Lucas Beyer · 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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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.
Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 2022
Cited alongside, same era.
Glam: Efficient scaling of language models with mixture-of-experts
Nan Du, Yanping Huang, Andrew M Dai, Simon Tong, Dmitry Lepikhin, Yuanzhong Xu, Maxim Krikun, Yanqi Zhou, Adams Wei Yu, Orhan Firat, et al · 2022
Cited alongside, same era.
Switch transformers: Scaling to trillion parameter models with simple and efficient sparsity
William Fedus, Barret Zoph, and Noam Shazeer · 2022
Cited alongside, same era.
Competition-level code generation with alphacode
Yujia Li, David Choi, Junyoung Chung, Nate Kushman, Julian Schrittwieser, Rémi Leblond, Tom Eccles, James Keeling, Felix Gimeno, Agustin Dal Lago, Thomas Hubert, Peter Choy, Cyprien de Masson d’Autume, Igor Babuschkin, Xinyun Chen, Po-Sen Huang, Johannes Welbl, Sven Gowal, Alexey Cherepanov, James Molloy, Daniel J. Mankowitz, Esme Sutherland Robson, Pushmeet Kohli, Nando de Freitas, Koray Kavukcuoglu, and Oriol Vinyals · 2022
Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, and Lerrel Pinto · 2023
Later among the works it cites.
Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
Later among the works it cites.
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
Later among the works it cites.
Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
Later among the works it cites.
Aloha 2: An enhanced low-cost hardware for bimanual teleoperation
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Cited alongside, same era.
Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
Cited alongside, same era.
Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
Cited alongside, same era.
Training language models to follow instructions with human feedback
Long Ouyang, Jeffrey Wu, Xu Jiang, Diogo Almeida, Carroll Wainwright, Pamela Mishkin, Chong Zhang, Sandhini Agarwal, Katarina Slama, Alex Ray, et al · 2022
Cited alongside, same era.
High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
Cited alongside, same era.
Photorealistic text-to-image diffusion models with deep language understanding
Chitwan Saharia, William Chan, Saurabh Saxena, Lala Li, Jay Whang, Emily L Denton, Kamyar Ghasemipour, Raphael Gontijo Lopes, Burcu Karagol Ayan, Tim Salimans, et al · 2022
Cited alongside, same era.
Emergent abilities of large language models
Jason Wei, Yi Tay, Rishi Bommasani, Colin Raffel, Barret Zoph, Sebastian Borgeaud, Dani Yogatama, Maarten Bosma, Denny Zhou, Donald Metzler, et al · 2022
Cited alongside, same era.
Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
Cited alongside, same era.
Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, Debidatta Dwibedi, Chelsea Finn, Pete Florence, Spencer Goodrich, et al · 2024
Closest in time.
Paligemma: A versatile 3b vlm for transfer
Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, et al · 2024
Closest in time.
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
Closest in time.
Scaling rectified flow transformers for high-resolution image synthesis
Patrick Esser, Sumith Kulal, Andreas Blattmann, Rahim Entezari, Jonas Müller, Harry Saini, Yam Levi, Dominik Lorenz, Axel Sauer, Frederic Boesel, et al · 2024
Closest in time.
Robot utility models: General policies for zero-shot deployment in new environments
Haritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Julian Mehu, Aaron Edsinger, Chris Paxton, Soumith Chintala, Lerrel Pinto, and Nur Muhammad Mahi Shafiullah · 2024
Closest in time.
Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z. Zhao, and Chelsea Finn · 2024
Closest in time.
Mars: Mixture of auto-regressive models for fine-grained text-to-image synthesis
Wanggui He, Siming Fu, Mushui Liu, Xierui Wang, Wenyi Xiao, Fangxun Shu, Yi Wang, Lei Zhang, Zhelun Yu, Haoyuan Li, et al · 2024
Closest in time.
DROID: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 2024
Closest in time.
Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
Closest in time.
Movie gen: A cast of media foundation models
Adam Polyak, Amit Zohar, Andrew Brown, Andros Tjandra, Animesh Sinha, Ann Lee, Apoorv Vyas, Bowen Shi, Chih-Yao Ma, Ching-Yao Chuang, et al · 2024
Closest in time.
Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, and Jian Tang · 2024
Closest in time.
Aloha unleashed: A simple recipe for robot dexterity
Tony Z Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Kamyar Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 2024
Closest in time.
Transfusion: Predict the next token and diffuse images with one multi-modal model
Chunting Zhou, Lili Yu, Arun Babu, Kushal Tirumala, Michihiro Yasunaga, Leonid Shamis, Jacob Kahn, Xuezhe Ma, Luke Zettlemoyer, and Omer Levy · 2024
Closest in time.
Scaling diffusion policy in transformer to 1 billion parameters for robotic manipulation
Minjie Zhu, Yichen Zhu, Jinming Li, Junjie Wen, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, et al · 2024
Closest in time.