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Developing agents that can follow multimodal instructions remains a fundamental challenge in robotics and AI.
The arcade learning environment: An evaluation platform for general agents
Marc G Bellemare, Yavar Naddaf, Joel Veness, and Michael Bowling · 2013
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Auto-encoding variational bayes
Diederik P. Kingma and Max Welling · 2013
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Human-level control through deep reinforcement learning
Volodymyr Mnih, Koray Kavukcuoglu, David Silver, Andrei A. Rusu, Joel Veness, Marc G. Bellemare, Alex Graves, Martin A. Riedmiller, Andreas Kirkeby Fidjeland, Georg Ostrovski, Stig Petersen, Charlie Beattie, Amir Sadik, Ioannis Antonoglou, Helen King, Dharshan Kumaran, Daan Wierstra, Shane Legg, and Demis Hassabis · 2015
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The malmo platform for artificial intelligence experimentation
Matthew Johnson, Katja Hofmann, Tim Hutton, and David Bignell · 2016
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Marcin Andrychowicz, Dwight Crow, Alex Ray, Jonas Schneider, Rachel Fong, Peter Welinder, Bob McGrew, Joshua Tobin, P. Abbeel, and Wojciech Zaremba · 2017
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One-shot imitation learning
Yan Duan, Marcin Andrychowicz, Bradly Stadie, OpenAI Jonathan Ho, Jonas Schneider, Ilya Sutskever, Pieter Abbeel, and Wojciech Zaremba · 2017
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Fixing a broken elbo
Alexander Alemi, Ben Poole, Ian Fischer, Joshua Dillon, Rif A Saurous, and Kevin Murphy · 2018
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Conditional variational autoencoder for neural machine translation
Artidoro Pagnoni, Kevin Liu, and Shangyan Li · 2018
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Improving language understanding by generative pre-training
Alec Radford · 2018
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Transformer-xl: Attentive language models beyond a fixed-length context
Zihang Dai, Zhilin Yang, Yiming Yang, Jaime Carbonell, Quoc Le, and Ruslan Salakhutdinov · 2019
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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2019
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Implicit deep latent variable models for text generation
Le Fang, Chunyuan Li, Jianfeng Gao, Wen Dong, and Changyou Chen · 2019
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, and Karol Hausman · 2019
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Minerl: A large-scale dataset of minecraft demonstrations
William H. Guss, Brandon Houghton, Nicholay Topin, Phillip Wang, Cayden Codel, Manuela M. Veloso, and Ruslan Salakhutdinov · 2019
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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Habitat: A platform for embodied ai research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, et al · 2019
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Reinforcement learning upside down: Don’t predict rewards - just map them to actions
Juergen Schmidhuber · 2019
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan C. Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2019
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Imitating interactive intelligence
Josh Abramson, Arun Ahuja, Iain Barr, Arthur Brussee, Federico Carnevale, Mary Cassin, Rachita Chhaparia, Stephen Clark, Bogdan Damoc, Andrew Dudzik, et al · 2020
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An optimistic perspective on offline reinforcement learning
Rishabh Agarwal, Dale Schuurmans, and Mohammad Norouzi · 2020
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Opal: Offline primitive discovery for accelerating offline reinforcement learning
Anurag Ajay, Aviral Kumar, Pulkit Agrawal, Sergey Levine, and Ofir Nachum · 2020
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Agent57: Outperforming the atari human benchmark
Adrià Puigdomènech Badia, Bilal Piot, Steven Kapturowski, Pablo Sprechmann, Alex Vitvitskyi, Zhaohan Daniel Guo, and Charles Blundell · 2020
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Language models are few-shot learners
Tom B. Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, Sandhini Agarwal, Ariel Herbert-Voss, Gretchen Krueger, T. J. Henighan, Rewon Child, Aditya Ramesh, Daniel M. Ziegler, Jeff Wu, Clemens Winter, Christopher Hesse, Mark Chen, Eric Sigler, Mateusz Litwin, Scott Gray, Benjamin Chess, Jack Clark, Christopher Berner, Sam McCandlish, Alec Radford, Ilya Sutskever, and Dario Amodei · 2020
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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
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Learning to drive by watching youtube videos: Action-conditioned contrastive policy pretraining
Qihang Zhang, Zhenghao Peng, and Bolei Zhou · 2022
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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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Open-world multi-task control through goal-aware representation learning and adaptive horizon prediction
Shaofei Cai, Zihao Wang, Xiaojian Ma, Anji Liu, and Yitao Liang · 2023
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Open X-Embodiment: Robotic learning datasets and RT-X models
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Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2020
Cited alongside, same era.
Vln-bert: A recurrent vision-and-language bert for navigation
Yicong Hong, Qi Wu, Yuankai Qi, Cristian Rodriguez-Opazo, and Stephen Gould · 2020
Cited alongside, same era.
Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
Cited alongside, same era.
Decision transformer: Reinforcement learning via sequence modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran, Kimin Lee, Aditya Grover, Michael Laskin, P. Abbeel, A. Srinivas, and Igor Mordatch · 2021
Cited alongside, same era.
Episodic transformer for vision-and-language navigation
Alexander Pashevich, Cordelia Schmid, and Chen Sun · 2021
Cited alongside, same era.
Accelerating reinforcement learning with learned skill priors
Karl Pertsch, Youngwoon Lee, and Joseph Lim · 2021
Cited alongside, same era.
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, Gretchen Krueger, and Ilya Sutskever · 2021
Cited alongside, same era.
Hierarchical task learning from language instructions with unified transformers and self-monitoring
Yichi Zhang and Joyce Chai · 2021
Cited alongside, same era.
Open X-Embodiment Collaboration, Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew Wang, Andrey Kolobov, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu, Charlotte Le, Chelsea Finn, Chen Wang, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Driess, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Foster, Fangchen Liu, Federico Ceola, Fei Xia, Feiyu Zhao, Felipe Vieira Frujeri, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guangwen Yang, Guanzhi Wang, Hao Su, Hao-Shu Fang, Haochen Shi, Henghui Bao, Heni Ben Amor, Henrik I Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim, Jaimyn Drake, Jan Peters, Jan Schneider, Jasmine Hsu, Jeannette Bohg, Jeffrey Bingham, Jeffrey Wu, Jensen Gao, Jiaheng Hu, Jiajun Wu, Jialin Wu, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jingyun Yang, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kaiyuan Wang, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Lin, Kevin Zhang, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Lawrence Yunliang Chen, Lerrel Pinto, Li Fei-Fei, Liam Tan, Linxi "Jim" Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J Joshi, Niko Suenderhauf, Ning Liu, Norman Di Palo, Nur Muhammad Mahi Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R Sanketi, Patrick "Tree" Miller, Patrick Yin, Paul Wohlhart, Peng Xu, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Mart’in-Mart’in, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante, Sean Kirmani, Sergey Levine, Shan Lin, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiangyu Chen, Xiaolong Wang, Xinghao Zhu, Xinyang Geng, Xiyuan Liu, Xu Liangwei, Xuanlin Li, Yansong Pang, Yao Lu, Yecheng Jason Ma, Yejin Kim, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Yilin Wu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yongqiang Dou, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yue Cao, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zhuo Xu, Zichen Jeff Cui, Zichen Zhang, Zipeng Fu, and Zipeng Lin · 2023
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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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Steve-1: A generative model for text-to-behavior in minecraft
Shalev Lifshitz, Keiran Paster, Harris Chan, Jimmy Ba, and Sheila A. McIlraith · 2023
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Mcu: A task-centric framework for open-ended agent evaluation in minecraft
Haowei Lin, Zihao Wang, Jianzhu Ma, and Yitao Liang · 2023
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Unified-io 2: Scaling autoregressive multimodal models with vision, language, audio, and action
Jiasen Lu, Christopher Clark, Sangho Lee, Zichen Zhang, Savya Khosla, Ryan Marten, Derek Hoiem, and Aniruddha Kembhavi · 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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Goal representations for instruction following: A semi-supervised language interface to control
Vivek Myers, Andre Wang He, Kuan Fang, Homer Rich Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca Dragan, and Sergey Levine · 2023
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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
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Yonghui Wu, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, et al · 2023
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Xskill: Cross embodiment skill discovery
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, and Shuran Song · 2023
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Multi-objective latent space optimization of generative molecular design models
ANM Nafiz Abeer, Nathan M Urban, M Ryan Weil, Francis J Alexander, and Byung-Jun Yoon · 2024
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Vid2robot: End-to-end video-conditioned policy learning with cross-attention transformers
Vidhi Jain, Maria Attarian, Nikhil J Joshi, Ayzaan Wahid, Danny Driess, Quan Vuong, Pannag R Sanketi, Pierre Sermanet, Stefan Welker, Christine Chan, et al · 2024
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Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, and Ted Xiao · 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, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Scaling instructable agents across many simulated worlds
Maria Abi Raad, Arun Ahuja, Catarina Barros, Frederic Besse, Andrew Bolt, Adrian Bolton, Bethanie Brownfield, Gavin Buttimore, Max Cant, Sarah Chakera, et al · 2024
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