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A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments.
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The open motion planning library
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Behavioral cloning from observation
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QT-Opt: Scalable deep reinforcement learning for vision-based robotic manipulation
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Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Learning dexterous in-hand manipulation
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Shirin Joshi, Sulabh Kumra, and Ferat Sahin · 2020
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Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Shared Control Templates for Assistive Robotics
Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp, and Joern Vogel · 2020
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Mastering visual continuous control: Improved data-augmented reinforcement learning
Denis Yarats, Rob Fergus, Alessandro Lazaric, and Lerrel Pinto · 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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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 · 2021
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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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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
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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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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 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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Is conditional generative modeling all you need for decision-making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua Tenenbaum, Tommi Jaakkola, and Pulkit Agrawal · 2022
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Diffusion policies as an expressive policy class for offline reinforcement learning
Zhendong Wang, Jonathan J Hunt, and Mingyuan Zhou · 2022
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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua B Tenenbaum, and Sergey Levine · 2022
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Classifier-free diffusion guidance
Jonathan Ho and Tim Salimans · 2022
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Latent plans for task agnostic offline reinforcement learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, and Wolfram Burgard · 2022
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Bottom-up skill discovery from unsegmented demonstrations for long-horizon robot manipulation
Yifeng Zhu, Peter Stone, and Yuke Zhu · 2022
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From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2022
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Learning and retrieval from prior data for skill-based imitation learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar, and Yuke Zhu · 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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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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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
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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 Hoi · 2023
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Llama-adapter: Efficient fine-tuning of language models with zero-init attention
Renrui Zhang, Jiaming Han, Chris Liu, Peng Gao, Aojun Zhou, Xiangfei Hu, Shilin Yan, Pan Lu, Hongsheng Li, and Yu Qiao · 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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Scalable diffusion models with transformers
William Peebles and Saining Xie · 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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Goal-conditioned imitation learning using score-based diffusion policies
Moritz Reuss, Maximilian Li, Xiaogang Jia, and Rudolf Lioutikov · 2023
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Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 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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Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, and Hao Dong · 2023
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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
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Unleashing large-scale video generative pre-training for visual robot manipulation
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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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Manipllm: Embodied multimodal large language model for object-centric robotic manipulation
Xiaoqi Li, Mingxu Zhang, Yiran Geng, Haoran Geng, Yuxing Long, Yan Shen, Renrui Zhang, Jiaming Liu, and Hao Dong · 2024
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pi0: 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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Imitating human behaviour with diffusion models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, et al · 2023
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Shelving, stacking, hanging: Relational pose diffusion for multi-modal rearrangement
Anthony Simeonov, Ankit Goyal, Lucas Manuelli, Lin Yen-Chen, Alina Sarmiento, Alberto Rodriguez, Pulkit Agrawal, and Dieter Fox · 2023
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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
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Learning score-based grasping primitive for human-assisting dexterous grasping
Tianhao Wu, Mingdong Wu, Jiyao Zhang, Yunchong Gan, and Hao Dong · 2023
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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 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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Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 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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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
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Robomind: Benchmark on multi-embodiment intelligence normative data for robot manipulation
Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, et al · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Llava-next-interleave: Tackling multi-image, video, and 3d in large multimodal models
Feng Li, Renrui Zhang, Hao Zhang, Yuanhan Zhang, Bo Li, Wei Li, Zejun Ma, and Chunyuan Li · 2024
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Autonomous interactive correction mllm for robust robotic manipulation
Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, and Hao Dong · 2024
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Naturalvlm: Leveraging fine-grained natural language for affordance-guided visual manipulation
Ran Xu, Yan Shen, Xiaoqi Li, Ruihai Wu, and Hao Dong · 2024
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Self-corrected multimodal large language model for end-to-end robot manipulation
Jiaming Liu, Chenxuan Li, Guanqun Wang, Lily Lee, Kaichen Zhou, Sixiang Chen, Chuyan Xiong, Jiaxin Ge, Renrui Zhang, and Shanghang Zhang · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, and Li Fei-Fei · 2024
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Robomamba: Multimodal state space model for efficient robot reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Lily Lee, Kaichen Zhou, Pengju An, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 2024
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Consistency policy: Accelerated visuomotor policies via consistency distillation
Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou, and Jeannette Bohg · 2024
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Edmp: Ensemble-of-costs-guided diffusion for motion planning
Kallol Saha, Vishal Mandadi, Jayaram Reddy, Ajit Srikanth, Aditya Agarwal, Bipasha Sen, Arun Singh, and Madhava Krishna · 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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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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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
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Chengyue Wu, Xiaokang Chen, Zhiyu Wu, Yiyang Ma, Xingchao Liu, Zizheng Pan, Wen Liu, Zhenda Xie, Xingkai Yu, Chong Ruan, et al · 2024
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Transfusion: Predict the next token and diffuse images with one multi-modal model
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Rvt-2: Learning precise manipulation from few demonstrations
Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, and Dieter Fox · 2024
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Fmb: a functional manipulation benchmark for generalizable robotic learning
Jianlan Luo, Charles Xu, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, and Sergey Levine · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
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Gr00t n1: An open foundation model for generalist humanoid robots
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figureai · 2025
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