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Training on diverse, internet-scale data is a key factor in the success of recent large foundation models.
Some methods for classification and analysis of multivariate observations
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Categorical reparameterization with gumbel-softmax
Eric Jang, Shixiang Gu, and Ben Poole · 2016
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The” something something” video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, et al · 2017
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Neural discrete representation learning
Aaron Van Den Oord, Oriol Vinyals, et al · 2017
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2018
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Meta-learning probabilistic inference for prediction
Jonathan Gordon, John Bronskill, Matthias Bauer, Sebastian Nowozin, and Richard Turner · 2019
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Denoising diffusion probabilistic models
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Deepspeed: System optimizations enable training deep learning models with over 100 billion parameters
Jeff Rasley, Samyam Rajbhandari, Olatunji Ruwase, and Yuxiong He · 2020
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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
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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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Lapo: Latent-variable advantage-weighted policy optimization for offline reinforcement learning
Xi Chen, Ali Ghadirzadeh, Tianhe Yu, Jianhao Wang, Alex Yuan Gao, Wenzhe Li, Liang Bin, Chelsea Finn, and Chongjie Zhang · 2022
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A survey on in-context learning
Qingxiu Dong, Lei Li, Damai Dai, Ce Zheng, Jingyuan Ma, Rui Li, Heming Xia, Jingjing Xu, Zhiyong Wu, Tianyu Liu, et al · 2022
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Towards artificial general intelligence via a multimodal foundation model
Nanyi Fei, Zhiwu Lu, Yizhao Gao, Guoxing Yang, Yuqi Huo, Jingyuan Wen, Haoyu Lu, Ruihua Song, Xin Gao, Tao Xiang, 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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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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Autoregressive image generation using residual quantization
Doyup Lee, Chiheon Kim, Saehoon Kim, Minsu Cho, and Wook-Shin Han · 2022
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Behavior transformers: Cloning
Nur Muhammad Shafiullah, Zichen Cui, Ariuntuya Arty Altanzaya, and Lerrel Pinto · 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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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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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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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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Liv: Language-image representations and rewards for robotic control
Yecheng Jason Ma, Vikash Kumar, Amy Zhang, Osbert Bastani, and Dinesh Jayaraman · 2023
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EmbodiedGPT: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 2023
Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2024
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Physically grounded vision-language models for robotic manipulation
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, and Dorsa Sadigh · 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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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
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Lisa: Reasoning segmentation via large language model
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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
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Llm-planner: Few-shot grounded planning for embodied agents with large language models
Chan Hee Song, Jiaman Wu, Clayton Washington, Brian M Sadler, Wei-Lun Chao, and Yu Su · 2023
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Emu: Generative pretraining in multimodality
Quan Sun, Qiying Yu, Yufeng Cui, Fan Zhang, Xiaosong Zhang, Yueze Wang, Hongcheng Gao, Jingjing Liu, Tiejun Huang, and Xinlong Wang · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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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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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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Xin Lai, Zhuotao Tian, Yukang Chen, Yanwei Li, Yuhui Yuan, Shu Liu, and Jiaya Jia · 2024
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Behavior generation with latent actions
Seungjae Lee, Yibin Wang, Haritheja Etukuru, H. Jin Kim, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
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Quest: Self-supervised skill abstractions for learning continuous control
Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, and Animesh Garg · 2024
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A comprehensive survey of cross-domain policy transfer for embodied agents
Haoyi Niu, Jianming Hu, Guyue Zhou, and Xianyuan Zhan · 2024
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Hiql: Offline goal-conditioned rl with latent states as actions
Seohong Park, Dibya Ghosh, Benjamin Eysenbach, and Sergey Levine · 2024
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Yell at your robot: Improving on-the-fly from language corrections
Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, and Chelsea Finn · 2024
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Generative multimodal models are in-context learners
Quan Sun, Yufeng Cui, Xiaosong Zhang, Fan Zhang, Qiying Yu, Yueze Wang, Yongming Rao, Jingjing Liu, Tiejun Huang, and Xinlong Wang · 2024
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Scaling proprioceptive-visual learning with heterogeneous pre-trained transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao, and Kaiming He · 2024
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Pushing the limits of cross-embodiment learning for manipulation and navigation
Jonathan Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, and Sergey Levine · 2024
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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, et al · 2024
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Pre-training goal-based models for sample-efficient reinforcement learning
Haoqi Yuan, Zhancun Mu, Feiyang Xie, and Zongqing Lu · 2024
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Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Instruction-guided visual masking
Jinliang Zheng, Jianxiong Li, Sijie Cheng, Yinan Zheng, Jiaming Li, Jihao Liu, Yu Liu, Jingjing Liu, and Xianyuan Zhan · 2024
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