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Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision.
Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Computing and visualizing dynamic time warping alignments in R: The dtw package
Toni Giorgino · 2009
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Deep residual learning for image recognition. arxiv e-prints
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2015
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Attention is all you need
A Vaswani · 2017
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Hrl4in: Hierarchical reinforcement learning for interactive navigation with mobile manipulators
Chengshu Li, Fei Xia, Roberto Martin-Martin, and Silvio Savarese · 2020
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Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
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Fundamentals of Music Processing: Using Python and Jupyter Notebooks
Meinard Müller · 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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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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Core challenges in embodied vision-language planning
Jonathan Francis, Nariaki Kitamura, Felix Labelle, Xiaopeng Lu, Ingrid Navarro, and Jean Oh · 2022
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Learning options via compression
Yiding Jiang, Evan Liu, Benjamin Eysenbach, J Zico Kolter, and Chelsea Finn · 2022
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Learning and retrieval from prior data for skill-based imitation learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar, and Yuke Zhu · 2022
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The surprising effectiveness of representation learning for visual imitation
Jyothish Pari, Nur Muhammad Mahi Shafiullah, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2022
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A generalist agent
Scott E. Reed, Konrad Zolna, Emilio Parisotto, Sergio Gómez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, and Nando de Freitas · 2022
Cited alongside, same era.
Translating robot skills: Learning unsupervised skill correspondences across robots
Tanmay Shankar, Yixin Lin, Aravind Rajeswaran, Vikash Kumar, Stuart Anderson, and Jean Oh · 2022
Cited alongside, same era.
Gmflow: Learning optical flow via global matching
Haofei Xu, Jing Zhang, Jianfei Cai, Hamid Rezatofighi, and Dacheng Tao · 2022
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
Cited alongside, same era.
Behavior retrieval: Few-shot imitation learning by querying unlabeled datasets
Baku: An efficient transformer for multi-task policy learning
Siddhant Haldar, Zhuoran Peng, and Lerrel Pinto · 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
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Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation
Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, and Yue Wang · 2024
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Flowretrieval: Flow-guided data retrieval for few-shot imitation learning
Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, and Dorsa Sadigh · 2024
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Libero: Benchmarking knowledge transfer for lifelong robot learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2024
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Maximilian Du, Suraj Nair, Dorsa Sadigh, and Chelsea Finn · 2023
Cited alongside, same era.
Toward general-purpose robots via foundation models: A survey and meta-analysis
Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Zhibo Zhao, et al · 2023
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models
Abby O’Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, et al · 2023
Cited alongside, same era.
Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
Cited alongside, same era.
Language-conditioned semantic search-based policy for robotic manipulation tasks
Jannik Sheikh, Andrew Melnik, Gora Chand Nandi, and Robert Haschke · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Rt-h: Action hierarchies using language
Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quon Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, and Dorsa Sadigh · 2024
Cited alongside, same era.
Dinobot: Robot manipulation via retrieval and alignment with vision foundation models
Norman Di Palo and Edward Johns · 2024
Cited alongside, same era.
Closest in time.
Zero-shot imitation policy via search in demonstration dataset
Federico Malato, Florian Leopold, Andrew Melnik, and Ville Hautamäki · 2024
Closest in time.
Policy adaptation via language optimization: Decomposing tasks for few-shot imitation
Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, and Sergey Levine · 2024
Closest in time.
Robocasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 2024
Closest in time.
R+ x: Retrieval and execution from everyday human videos
Georgios Papagiannis, Norman Di Palo, Pietro Vitiello, and Edward Johns · 2024
Closest in time.
Poco: Policy composition from and for heterogeneous robot learning
Lirui Wang, Jialiang Zhao, Yilun Du, Edward H. Adelson, and Russ Tedrake · 2024
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Offline imitation learning through graph search and retrieval
Zhao-Heng Yin and Pieter Abbeel · 2024
Closest in time.
Distilling and retrieving generalizable knowledge for robot manipulation via language corrections
Lihan Zha, Yuchen Cui, Li-Heng Lin, Minae Kwon, Montserrat Gonzalez Arenas, Andy Zeng, Fei Xia, and Dorsa Sadigh · 2024
Closest in time.