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Simulation offers a promising approach for cheaply scaling training data for generalist policies.
Deep residual learning for image recognition
He, K., Zhang, X., Ren, S., and Sun, J · 2016
Earlier work this paper cites.
The” something something” video database for learning and evaluating visual common sense
Goyal, R., Ebrahimi Kahou, S., Michalski, V., Materzynska, J., Westphal, S., Kim, H., Haenel, V., Fruend, I., Yianilos, P., Mueller-Freitag, M., et al · 2017
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Proximal policy optimization algorithms
Schulman, J., Wolski, F., Dhariwal, P., Radford, A., and Klimov, O · 2017
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Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., and Hutter, M · 2019
Earlier work this paper cites.
Learning dexterous in-hand manipulation
Andrychowicz, O. M., Baker, B., Chociej, M., Jozefowicz, R., McGrew, B., Pachocki, J., Petron, A., Plappert, M., Powell, G., Ray, A., et al · 2020
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rl-games: A high-performance framework for reinforcement learning
Makoviichuk, D. and Makoviychuk, V · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Makoviychuk, V., Wawrzyniak, L., Guo, Y., Lu, M., Storey, K., Macklin, M., Hoeller, D., Rudin, N., Allshire, A., Handa, A., et al · 2021
Earlier work this paper cites.
Mastering atari games with limited data
Ye, W., Liu, S., Kurutach, T., Abbeel, P., and Gao, Y · 2021
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Procthor: Large-scale embodied ai using procedural generation
Deitke, M., VanderBilt, E., Herrasti, A., Weihs, L., Ehsani, K., Salvador, J., Han, W., Kolve, E., Kembhavi, A., and Mottaghi, R · 2022
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Dreamfusion: Text-to-3d using 2d diffusion
Poole, B., Jain, A., Barron, J. T., and Mildenhall, B · 2022
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Reed, S., Zolna, K., Parisotto, E., Colmenarejo, S. G., Novikov, A., Barth-Maron, G., Gimenez, M., Sulsky, Y., Kay, J., Springenberg, J. T., et al · 2022
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Behavior: Benchmark for everyday household activities in virtual, interactive, and ecological environments
Srivastava, S., Li, C., Lingelbach, M., Martín-Martín, R., Xia, F., Vainio, K. E., Lian, Z., Gokmen, C., Buch, S., Liu, K., et al · 2022
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Chain-of-thought prompting elicits reasoning in large language models
Wei, J., Wang, X., Schuurmans, D., Bosma, M., Xia, F., Chi, E., Le, Q. V., Zhou, D., et al · 2022
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Achiam, J., Adler, S., Agarwal, S., Ahmad, L., Akkaya, I., Aleman, F. L., Almeida, D., Altenschmidt, J., Altman, S., Anadkat, S., et al · 2023
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Do as i can, not as i say: Grounding language in robotic affordances
Brohan, A., Chebotar, Y., Finn, C., Hausman, K., Herzog, A., Ho, D., Ibarz, J., Irpan, A., Jang, E., Julian, R., et al · 2023
Cited alongside, same era.
Genaug: Retargeting behaviors to unseen situations via generative augmentation
Chen, Z., Kiami, S., Gupta, A., and Kumar, V · 2023
Cited alongside, same era.
Maniskill2: A unified benchmark for generalizable manipulation skills
Gu, J., Xiang, F., Li, X., Ling, Z., Liu, X., Mu, T., Tang, Y., Tao, S., Wei, X., Yao, Y., et al · 2023
Cited alongside, same era.
Mastering diverse domains through world models
Hafner, D., Pasukonis, J., Ba, J., and Lillicrap, T · 2023
Cited alongside, same era.
Ditto in the house: Building articulation models of indoor scenes through interactive perception
Code llama: Open foundation models for code
Roziere, B., Gehring, J., Gloeckle, F., Sootla, S., Gat, I., Tan, X. E., Adi, Y., Liu, J., Sauvestre, R., Remez, T., et al · 2023
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Reflexion: an autonomous agent with dynamic memory and self-reflection
Shinn, N., Labash, B., and Gopinath, A · 2023
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Urdformer: A pipeline for constructing articulated simulation environments from real-world images
Chen, Z., Walsman, A., Memmel, M., Mo, K., Fang, A., Vemuri, K., Wu, A., Fox, D., and Gupta, A · 2024
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Learning universal policies via text-guided video generation
Du, Y., Yang, S., Dai, B., Dai, H., Nachum, O., Tenenbaum, J., Schuurmans, D., and Abbeel, P · 2024
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Real2code: Reconstruct articulated objects via code generation
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Hsu, C.-C., Jiang, Z., and Zhu, Y · 2023
Cited alongside, same era.
Shap-e: Generating conditional 3d implicit functions
Jun, H. and Nichol, A · 2023
Cited alongside, same era.
Behavior-1k: A benchmark for embodied ai with 1,000 everyday activities and realistic simulation
Li, C., Zhang, R., Wong, J., Gokmen, C., Srivastava, S., Martín-Martín, R., Wang, C., Levine, G., Lingelbach, M., Sun, J., et al · 2023
Cited alongside, same era.
Code as policies: Language model programs for embodied control
Liang, J., Huang, W., Xia, F., Xu, P., Hausman, K., Ichter, B., Florence, P., and Zeng, A · 2023
Cited alongside, same era.
Text2motion: From natural language instructions to feasible plans
Lin, K., Agia, C., Migimatsu, T., Pavone, M., and Bohg, J · 2023
Cited alongside, same era.
Grounding dino: Marrying dino with grounded pre-training for open-set object detection
Liu, S., Zeng, Z., Ren, T., Li, F., Zhang, H., Yang, J., Li, C., Yang, J., Su, H., Zhu, J., et al · 2023
Cited alongside, same era.
Eureka: Human-level reward design via coding large language models
Ma, Y. J., Liang, W., Wang, G., Huang, D.-A., Bastani, O., Jayaraman, D., Zhu, Y., Fan, L., and Anandkumar, A · 2023
Cited alongside, same era.
How can large language models help humans in design and manufacturing?
Makatura, L., Foshey, M., Wang, B., HähnLein, F., Ma, P., Deng, B., Tjandrasuwita, M., Spielberg, A., Owens, C. E., Chen, P. Y., et al · 2023
Cited alongside, same era.
Mandi, Z., Weng, Y., Bauer, D., and Song, S · 2024
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
Nasiriany, S., Maddukuri, A., Zhang, L., Parikh, A., Lo, A., Joshi, A., Mandlekar, A., and Zhu, Y · 2024
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Unidepth: Universal monocular metric depth estimation
Piccinelli, L., Yang, Y.-H., Sakaridis, C., Segu, M., Li, S., Van Gool, L., and Yu, F · 2024
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Sam 2: Segment anything in images and videos
Ravi, N., Gabeur, V., Hu, Y.-T., Hu, R., Ryali, C., Ma, T., Khedr, H., Rädle, R., Rolland, C., Gustafson, L., et al · 2024
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Offline actor-critic reinforcement learning scales to large models
Springenberg, J. T., Abdolmaleki, A., Zhang, J., Groth, O., Bloesch, M., Lampe, T., Brakel, P., Bechtle, S., Kapturowski, S., Hafner, R., et al · 2024
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Octo: An open-source generalist robot policy
Team, O. M., Ghosh, D., Walke, H., Pertsch, K., Black, K., Mees, O., Dasari, S., Hejna, J., Kreiman, T., Xu, C., et al · 2024
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Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation
Torne, M., Simeonov, A., Li, Z., Chan, A., Chen, T., Gupta, A., and Agrawal, P · 2024
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Efficientzero v2: Mastering discrete and continuous control with limited data
Wang, S., Liu, S., Ye, W., You, J., and Gao, Y · 2024
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Foundationpose: Unified 6d pose estimation and tracking of novel objects
Wen, B., Yang, W., Kautz, J., and Birchfield, S · 2024
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Xu, J., Cheng, W., Gao, Y., Wang, X., Gao, S., and Shan, Y · 2024
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