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Vision Language Models (VLMs) pretrained on Internet-scale vision-language data have demonstrated the potential to transfer their knowledge to robotic learning.
Towards an episodic memory for cognitive robots
Sascha Jockel, Martin Weser, Daniel Westhoff, and Jianwei Zhang · 2008
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Probabilistic data association for semantic slam
Sean L Bowman, Nikolay Atanasov, Kostas Daniilidis, and George J Pappas · 2017
Earlier work this paper cites.
Partnet: A large-scale benchmark for fine-grained and hierarchical part-level 3d object understanding
Kaichun Mo, Shilin Zhu, Angel X Chang, Li Yi, Subarna Tripathi, Leonidas J Guibas, and Hao Su · 2019
Earlier work this paper cites.
Object goal navigation using goal-oriented semantic exploration
Devendra Singh Chaplot, Dhiraj Prakashchand Gandhi, Abhinav Gupta, and Russ R Salakhutdinov · 2020
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Vivit: A video vision transformer
Anurag Arnab, Mostafa Dehghani, Georg Heigold, Chen Sun, Mario Lučić, and Cordelia Schmid · 2021
Earlier work this paper cites.
Is space-time attention all you need for video understanding?
Gedas Bertasius, Heng Wang, and Lorenzo Torresani · 2021
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Multiscale vision transformers
Haoqi Fan, Bo Xiong, Karttikeya Mangalam, Yanghao Li, Zhicheng Yan, Jitendra Malik, and Christoph Feichtenhofer · 2021
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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas J Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
Earlier work this paper cites.
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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Socratic models: Composing zero-shot multimodal reasoning with language
Andy Zeng, Maria Attarian, Brian Ichter, Krzysztof Choromanski, Adrian Wong, Stefan Welker, Federico Tombari, Aveek Purohit, Michael Ryoo, Vikas Sindhwani, 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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Mvitv2: Improved multiscale vision transformers for classification and detection
Yanghao Li, Chao-Yuan Wu, Haoqi Fan, Karttikeya Mangalam, Bo Xiong, Jitendra Malik, and Christoph Feichtenhofer · 2022
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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.
R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Cognitive architectures
David Vernon · 2022
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Flowbot3d: Learning 3d articulation flow to manipulate articulated objects
Ben Eisner, Harry Zhang, and David Held · 2022
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Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
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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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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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Foundation models in robotics: Applications, challenges, and the future
Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, et al · 2023
Earlier work this paper cites.
Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, et al · 2023
Cited alongside, same era.
Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
Cited alongside, same era.
Vipergpt: Visual inference via python execution for reasoning
Dídac Surís, Sachit Menon, and Carl Vondrick · 2023
Cited alongside, same era.
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.
Vima: Robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2023
Cited alongside, same era.
Navila: Legged robot vision-language-action model for navigation
An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Xueyan Zou, Jan Kautz, Erdem Bıyık, Hongxu Yin, Sifei Liu, and Xiaolong Wang · 2024
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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.
INTERPRET: interactive predicate learning from language feedback for generalizable task planning
Muzhi Han, Yifeng Zhu, Song-Chun Zhu, Ying Nian Wu, and Yuke Zhu · 2024
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Manipulate-anything: Automating real-world robots using vision-language models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, and Ranjay Krishna · 2024
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Blip-2: Bootstrapping language-image pre-training with frozen image encoders and large language models
Junnan Li, Dongxu Li, Silvio Savarese, and Steven C. H. Hoi · 2023
Cited alongside, same era.
Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Vision-language foundation models as effective robot imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, et al · 2023
Cited alongside, same era.
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 · 2023
Cited alongside, same era.
Sparsedff: Sparse-view feature distillation for one-shot dexterous manipulation
Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, and Leonidas Guibas · 2023
Cited alongside, same era.
Openflamingo: An open-source framework for training large autoregressive vision-language models
Anas Awadalla, Irena Gao, Josh Gardner, Jack Hessel, Yusuf Hanafy, Wanrong Zhu, Kalyani Marathe, Yonatan Bitton, Samir Gadre, Shiori Sagawa, et al · 2023
Cited alongside, same era.
Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, and Roei Herzig · 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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Diffusion-vla: Scaling robot foundation models via unified diffusion and autoregression
Junjie Wen, Minjie Zhu, Yichen Zhu, Zhibin Tang, Jinming Li, Zhongyi Zhou, Chengmeng Li, Xiaoyu Liu, Yaxin Peng, Chaomin Shen, et al · 2024
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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
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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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Llara: Supercharging robot learning data for vision-language policy
Xiang Li, Cristina Mata, Jongwoo Park, Kumara Kahatapitiya, Yoo Sung Jang, Jinghuan Shang, Kanchana Ranasinghe, Ryan Burgert, Mu Cai, Yong Jae Lee, et al · 2024
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How far are we to gpt-4v? closing the gap to commercial multimodal models with open-source suites
Zhe Chen, Weiyun Wang, Hao Tian, Shenglong Ye, Zhangwei Gao, Erfei Cui, Wenwen Tong, Kongzhi Hu, Jiapeng Luo, Zheng Ma, et al · 2024
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Qwen2-vl: Enhancing vision-language model’s perception of the world at any resolution
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
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Mipha: A comprehensive overhaul of multimodal assistant with small language models
Minjie Zhu, Yichen Zhu, Xin Liu, Ning Liu, Zhiyuan Xu, Chaomin Shen, Yaxin Peng, Zhicai Ou, Feifei Feng, and Jian Tang · 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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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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Sam 2: Segment anything in images and videos
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, et al · 2024
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Generate subgoal images before act: Unlocking the chain-of-thought reasoning in diffusion model for robot manipulation with multimodal prompts
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Jiashun Liu, Yan Zheng, Bin Wang, and Yuzheng Zhuang · 2024
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Chatvla: Unified multimodal understanding and robot control with vision-language-action model
Zhongyi Zhou, Yichen Zhu, Minjie Zhu, Junjie Wen, Ning Liu, Zhiyuan Xu, Weibin Meng, Ran Cheng, Yaxin Peng, Chaomin Shen, and Feifei Feng · 2025
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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
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Don’t look twice: Faster video transformers with run-length tokenization
Rohan Choudhury, Guanglei Zhu, Sihan Liu, Koichiro Niinuma, Kris Kitani, and László Jeni · 2025
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Sam2act: Integrating visual foundation model with a memory architecture for robotic manipulation
Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, and Jiafei Duan · 2025
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