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Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets.
Language models are few-shot learners
Tom B Brown · 2020
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Natural language processing
KR1442 Chowdhary and KR Chowdhary · 2020
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 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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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Past, present, and future of aerial robotic manipulators
Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, and Antonio Franchi · 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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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
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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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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Attention mechanisms in computer vision: A survey
Meng-Hao Guo, Tian-Xing Xu, Jiang-Jiang Liu, Zheng-Ning Liu, Peng-Tao Jiang, Tai-Jiang Mu, Song-Hai Zhang, Ralph R Martin, Ming-Ming Cheng, and Shi-Min Hu · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Chatgpt, 2022
OpenAI · 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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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Openflamingo: An open-source framework for training large autoregressive vision-language models
Anas Awadalla, Irena Gao, Josh Gardner, Jack Hessel, Yusuf Hanafy, Wanrong Zhu, Kalyani Marathe, Yonatan Bitton, Samir Gadre, Shiori Sagawa, et al · 2023
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Jinze Bai, Shuai Bai, Yunfei Chu, Zeyu Cui, Kai Dang, Xiaodong Deng, Yang Fan, Wenbin Ge, Yu Han, Fei Huang, Binyuan Hui, Luo Ji, Mei Li, Junyang Lin, Runji Lin, Dayiheng Liu, Gao Liu, Chengqiang Lu, Keming Lu, Jianxin Ma, Rui Men, Xingzhang Ren, Xuancheng Ren, Chuanqi Tan, Sinan Tan, Jianhong Tu, Peng Wang, Shijie Wang, Wei Wang, Shengguang Wu, Benfeng Xu, Jin Xu, An Yang, Hao Yang, Jian Yang, Shusheng Yang, Yang Yao, Bowen Yu, Hongyi Yuan, Zheng Yuan, Jianwei Zhang, Xingxuan Zhang, Yichang Zhang, Zhenru Zhang, Chang Zhou, Jingren Zhou, Xiaohuan Zhou, and Tianhang Zhu · 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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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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Sparks of artificial general intelligence: Early experiments with gpt-4
Sébastien Bubeck, Varun Chandrasekaran, Ronen Eldan, Johannes Gehrke, Eric Horvitz, Ece Kamar, Peter Lee, Yin Tat Lee, Yuanzhi Li, Scott Lundberg, et al · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 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
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Maniskill2: A unified benchmark for generalizable manipulation skills
Prediction with action: Visual policy learning via joint denoising process
Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, and Jianyu Chen · 2024
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Corki: Enabling real-time embodied ai robots via algorithm-architecture co-design, 2024
Yiyang Huang, Yuhui Hao, Bo Yu, Feng Yan, Yuxin Yang, Feng Min, Yinhe Han, Lin Ma, Shaoshan Liu, Qiang Liu, and Yiming Gan · 2024
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Mail: Improving imitation learning with mamba
Xiaogang Jia, Qian Wang, Atalay Donat, Bowen Xing, Ge Li, Hongyi Zhou, Onur Celik, Denis Blessing, Rudolf Lioutikov, and Gerhard Neumann · 2024
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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
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Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
Huy Ha, Pete Florence, and Shuran Song · 2023
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Where are we in the search for an artificial visual cortex for embodied intelligence?
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Tingfan Wu, Jay Vakil, et al · 2023
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Grounding language with visual affordances over unstructured data
Oier Mees, Jessica Borja-Diaz, and Wolfram Burgard · 2023
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models
Abhishek Padalkar, Acorn Pooley, Ajinkya Jain, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anikait Singh, Anthony Brohan, et al · 2023
Cited alongside, same era.
Mutex: Learning unified policies from multimodal task specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 2023
Cited alongside, same era.
Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2023
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Seungjae Lee, Yibin Wang, Haritheja Etukuru, H. Jin Kim, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
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Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, et al · 2024
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Llama 3.2: Revolutionizing edge ai and vision with open, customizable models
Meta · 2024
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Quest: Self-supervised skill abstractions for learning continuous control, 2024
Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, and Animesh Garg · 2024
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The colosseum: A benchmark for evaluating generalization for robotic manipulation
Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, and Dieter Fox · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks, 2024
Tianhe Ren, Shilong Liu, Ailing Zeng, Jing Lin, Kunchang Li, He Cao, Jiayu Chen, Xinyu Huang, Yukang Chen, Feng Yan, Zhaoyang Zeng, Hao Zhang, Feng Li, Jie Yang, Hongyang Li, Qing Jiang, and Lei Zhang · 2024
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Multimodal diffusion transformer: Learning versatile behavior from multimodal goals
Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel, and Rudolf Lioutikov · 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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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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Language-conditioned imitation learning with base skill priors under unstructured data
Hongkuan Zhou, Zhenshan Bing, Xiangtong Yao, Xiaojie Su, Chenguang Yang, Kai Huang, and Alois Knoll · 2024
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Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
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Diffusion trajectory-guided policy for long-horizon robot manipulation
Shichao Fan, Quantao Yang, Yajie Liu, Kun Wu, Zhengping Che, Qingjie Liu, and Min Wan · 2025
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Fast: Efficient action tokenization for vision-language-action models
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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