Fetching the paper…
Reading the bibliography…
In this paper, we claim that spatial understanding is the keypoint in robot manipulation, and propose SpatialVLA to explore effective spatial representations for the robot foundation model.
Cognitive maps in rats and men
Edward C Tolman · 1948
Earlier work this paper cites.
The organization of learning
Charles R Gallistel · 1990
Earlier work this paper cites.
Child’s Conception of Space: Selected Works vol 4
Jean Piaget · 2013
Earlier work this paper cites.
Visuo-spatial working memory
Robert H Logie · 2014
Earlier work this paper cites.
Actor-mimic: Deep multitask and transfer reinforcement learning
Emilio Parisotto, Jimmy Lei Ba, and Ruslan Salakhutdinov · 2016
Earlier work this paper cites.
Policy distillation
Andrei A Rusu, Sergio Gomez Colmenarejo, Caglar Gulcehre, Guillaume Desjardins, James Kirkpatrick, Razvan Pascanu, Volodymyr Mnih, Koray Kavukcuoglu, and Raia Hadsell · 2016
Earlier work this paper cites.
Qt-opt: 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.
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
Earlier work this paper cites.
Shared control templates for assistive robotics
Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp, and Jörn Vogel · 2020
Earlier work this paper cites.
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
Earlier work this paper cites.
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
Earlier work this paper cites.
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
Earlier work this paper cites.
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 · 2022
Earlier work this paper cites.
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
Earlier work this paper cites.
Latent plans for task-agnostic offline reinforcement learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, and Wolfram Burgard · 2022
Earlier work this paper cites.
Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
Earlier work this paper cites.
Bottom-up skill discovery from unsegmented demonstrations for long-horizon robot manipulation
Yifeng Zhu, Peter Stone, and Yuke Zhu · 2022
Earlier work this paper cites.
Hydra: Hybrid robot actions for imitation learning
Suneel Belkhale, Yuchen Cui, and Dorsa Sadigh · 2023
Earlier work this paper cites.
Zoedepth: Zero-shot transfer by combining relative and metric depth
Shariq Farooq Bhat, Reiner Birkl, Diana Wofk, Peter Wonka, and Matthias Müller · 2023
Earlier work this paper cites.
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
Earlier work this paper cites.
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
Cited alongside, same era.
From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2023
Cited alongside, same era.
Clvr jaco play dataset, 2023
Shivin Dass, Jullian Yapeter, Jesse Zhang, Jiahui Zhang, Karl Pertsch, Stefanos Nikolaidis, and Joseph J. Lim · 2023
Cited alongside, same era.
Rh20t: A comprehensive 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
Cited alongside, same era.
Polytask: Learning unified policies through behavior distillation
Siddhant Haldar and Lerrel Pinto · 2023
Cited alongside, same era.
π 0 \pi_{0} : A vision-language-action flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
Later among the works it cites.
Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
Chi-Lam Cheang, Guangzeng Chen, Ya Jing, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Hongtao Wu, Jiafeng Xu, Yichu Yang, et al · 2024
Later among the works it cites.
Open x-embodiment: Robotic learning datasets and rt-x models
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, et al · 2024
Later among the works it cites.
Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
Ria Doshi, Homer Walke, Oier Mees, Sudeep Dasari, and Sergey Levine · 2024
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
Furniturebench: Reproducible real-world benchmark for long-horizon complex manipulation
Minho Heo, Youngwoon Lee, Doohyun Lee, and Joseph J Lim · 2023
Cited alongside, same era.
3d-llm: Injecting the 3d world into large language models
Yining Hong, Haoyu Zhen, Peihao Chen, Shuhong Zheng, Yilun Du, Zhenfang Chen, and Chuang Gan · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Grounding language with visual affordances over unstructured data
Oier Mees, Jessica Borja-Diaz, and Wolfram Burgard · 2023
Cited alongside, same era.
Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
Cited alongside, same era.
Learning and retrieval from prior data for skill-based imitation learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar, and Yuke Zhu · 2023
Cited alongside, same era.
Kosmos-2: Grounding multimodal large language models to the world
Zhiliang Peng, Wenhui Wang, Li Dong, Yaru Hao, Shaohan Huang, Shuming Ma, and Furu Wei · 2023
Cited alongside, same era.
Rao Fu, Jingyu Liu, Xilun Chen, Yixin Nie, and Wenhan Xiong · 2024
Later among the works it cites.
Baku: An efficient transformer for multi-task policy learning
Siddhant Haldar, Zhuoran Peng, and Lerrel Pinto · 2024
Later among the works it cites.
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 · 2024
Later among the works it cites.
Prismatic vlms: Investigating the design space of visually-conditioned language models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
Later among the works it cites.
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
Later among the works it cites.
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
Later among the works it cites.
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
Later among the works it cites.
Livescene: Language embedding interactive radiance fields for physical scene rendering and control
Delin Qu, Qizhi Chen, Pingrui Zhang, Xianqiang Gao, Junzhe Li, Bin Zhao, Dong Wang, and Xuelong Li · 2024
Later among the works it cites.
Paligemma 2: A family of versatile vlms for transfer
Andreas Steiner, André Susano Pinto, Michael Tschannen, Daniel Keysers, Xiao Wang, Yonatan Bitton, Alexey Gritsenko, Matthias Minderer, Anthony Sherbondy, Shangbang Long, et al · 2024
Later among the works it cites.
Scaling proprioceptive-visual learning with heterogeneous pre-trained transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao, and Kaiming He · 2024
Later among the works it cites.
Thinking in space: How multimodal large language models see, remember, and recall spaces
Jihan Yang, Shusheng Yang, Anjali W Gupta, Rilyn Han, Li Fei-Fei, and Saining Xie · 2024
Later among the works it cites.
3d-vla: A 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
Later among the works it cites.
Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2024
Later among the works it cites.
Llava-3d: A simple yet effective pathway to empowering lmms with 3d-awareness
Chenming Zhu, Tai Wang, Wenwei Zhang, Jiangmiao Pang, and Xihui Liu · 2024
Later among the works it cites.
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
Closest in time.
Universal actions for enhanced embodied foundation models
Jinliang Zheng, Jianxiong Li, Dongxiu Liu, Yinan Zheng, Zhihao Wang, Zhonghong Ou, Yu Liu, Jingjing Liu, Ya-Qin Zhang, and Xianyuan Zhan · 2025
Closest in time.