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Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics.
Large scale gan training for high fidelity natural image synthesis
Andrew Brock, Jeff Donahue, and Karen Simonyan · 2018
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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A style-based generator architecture for generative adversarial networks
Tero Karras, Samuli Laine, and Timo Aila · 2021
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 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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Video diffusion models
Jonathan Ho, Tim Salimans, Alexey Gritsenko, William Chan, Mohammad Norouzi, and David J Fleet · 2022
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Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
Stephen James, Kentaro Wada, Tristan Laidlow, and Andrew J Davison · 2022
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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua Tenenbaum, and Sergey Levine · 2022
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Pointnext: Revisiting pointnet++ with improved training and scaling strategies
Guocheng Qian, Yuchen Li, Houwen Peng, Jinjie Mai, Hasan Hammoud, Mohamed Elhoseiny, and Bernard Ghanem · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 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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Stable video diffusion: Scaling latent video diffusion models to large datasets
Andreas Blattmann, Tim Dockhorn, Sumith Kulal, Daniel Mendelevitch, Maciej Kilian, Dominik Lorenz, Yam Levi, Zion English, Vikram Voleti, Adam Letts, et al · 2023
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Do as i can, not as i say: Grounding language in robotic affordances
Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, et al · 2023
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Motion planning diffusion: Learning and planning of robot motions with diffusion models
J. Carvalho, A.T. Le, M. Baierl, D. Koert, and J. Peters · 2023
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Polarnet: 3d point clouds for language-guided robotic manipulation
Shizhe Chen, Ricardo Garcia Pinel, Cordelia Schmid, and Ivan Laptev · 2023
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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
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Graspnerf: Multiview-based 6-dof grasp detection for transparent and specular objects using generalizable nerf
Qiyu Dai, Yan Zhu, Yiran Geng, Ciyu Ruan, Jiazhao Zhang, and He Wang · 2023
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Rh20t: A 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
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Act3d: 3d feature field transformers for multi-task robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
Cited alongside, same era.
3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
Cited alongside, same era.
Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
Cited alongside, same era.
Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
Cited alongside, same era.
Kite: Keypoint-conditioned policies for semantic manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, and Jeannette Bohg · 2023
Cited alongside, same era.
Seer: Language instructed video prediction with latent diffusion models
Xianfan Gu, Chuan Wen, Weirui Ye, Jiaming Song, and Yang Gao · 2024
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Look before you leap: Unveiling the power of gpt-4v in robotic vision-language planning
Yingdong Hu, Fanqi Lin, Tong Zhang, Li Yi, and Yang Gao · 2024
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Fourier transporter: Bi-equivariant robotic manipulation in 3d
Haojie Huang, Owen Howell, Xupeng Zhu, Dian Wang, Robin Walters, and Robert Platt · 2024
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Copa: General robotic manipulation through spatial constraints of parts with foundation models
Haoxu Huang, Fanqi Lin, Yingdong Hu, Shengjie Wang, and Yang Gao · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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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.
Se (3)-diffusionfields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
Julen Urain, Niklas Funk, Jan Peters, and Georgia Chalvatzaki · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Can transformers capture spatial relations between objects?
Chuan Wen, Dinesh Jayaraman, and Yang Gao · 2023
Cited alongside, same era.
Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 2023
Cited alongside, same era.
Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, and Xiaolong Wang · 2023
Cited alongside, same era.
Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
Cited alongside, same era.
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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Data scaling laws in imitation learning for robotic manipulation
Fanqi Lin, Yingdong Hu, Pingyue Sheng, Chuan Wen, Jiacheng You, and Yang Gao · 2024
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Rdt-1b: a diffusion foundation model for bimanual manipulation
Songming Liu, Lingxuan Wu, Bangguo Li, Hengkai Tan, Huayu Chen, Zhengyi Wang, Ke Xu, Hang Su, and Jun Zhu · 2024
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Manigaussian: Dynamic gaussian splatting for multi-task robotic manipulation
Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, and Yansong Tang · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Multimodal diffusion transformer: Learning versatile behavior from multimodal goals
Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel, and Rudolf Lioutikov · 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, Tobias Kreiman, Charles Xu, et al · 2024
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Rise: 3d perception makes real-world robot imitation simple and effective
Chenxi Wang, Hongjie Fang, Hao-Shu Fang, and Cewu Lu · 2024
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Any-point Trajectory Modeling for Policy Learning
Chuan Wen, Xingyu Lin, John Ian Reyes So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2024
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Decomposing the generalization gap in imitation learning for visual robotic manipulation
Annie Xie, Lisa Lee, Ted Xiao, and Chelsea Finn · 2024
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General flow as foundation affordance for scalable robot learning
Chengbo Yuan, Chuan Wen, Tong Zhang, and Yang Gao · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Leveraging locality to boost sample efficiency in robotic manipulation
Tong Zhang, Yingdong Hu, Jiacheng You, and Yang Gao · 2024
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Gaussiangrasper: 3d language gaussian splatting for open-vocabulary robotic grasping
Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, et al · 2024
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