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General-purpose robots need a versatile body and an intelligent mind.
Thinking, fast and slow
Daniel Kahneman · 2011
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Real-time single image and video super-resolution using an efficient sub-pixel convolutional neural network
Wenzhe Shi, Jose Caballero, Ferenc Huszár, Johannes Totz, Andrew P Aitken, Rob Bishop, Daniel Rueckert, and Zehan Wang · 2016
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The" something something" video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, et al · 2017
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2018
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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, Silvio Savarese, and Li Fei-Fei · 2018
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Ray: A distributed framework for emerging { \{ AI } \} applications
Philipp Moritz, Robert Nishihara, Stephanie Wang, Alexey Tumanov, Richard Liaw, Eric Liang, Melih Elibol, Zongheng Yang, William Paul, Michael I Jordan, et al · 2018
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Ken Goldberg, and Pieter Abbeel · 2018
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Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity
Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, and Li Fei-Fei · 2019
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Howto100m: Learning a text-video embedding by watching hundred million narrated video clips
Antoine Miech, Dimitri Zhukov, Jean-Baptiste Alayrac, Makarand Tapaswi, Ivan Laptev, and Josef Sivic · 2019
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Human-in-the-loop imitation learning using remote teleoperation
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, and Silvio Savarese · 2020
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On the opportunities and risks of foundation models
Rishi Bommasani, Drew A Hudson, Ehsan Adeli, Russ Altman, Simran Arora, Sydney von Arx, Michael S Bernstein, Jeannette Bohg, Antoine Bosselut, Emma Brunskill, et al · 2021
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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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, Roman Ring, Eliza Rutherford, Serkan Cabi, Tengda Han, Zhitao Gong, Sina Samangooei, Marianne Monteiro, Jacob L Menick, Sebastian Borgeaud, Andy Brock, Aida Nematzadeh, Sahand Sharifzadeh, Mikoł aj Bińkowski, Ricardo Barreira, Oriol Vinyals, Andrew Zisserman, and Karén Simonyan · 2022
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Video pretraining (vpt): Learning to act by watching unlabeled online videos
Bowen Baker, Ilge Akkaya, Peter Zhokov, Joost Huizinga, Jie Tang, Adrien Ecoffet, Brandon Houghton, Raul Sampedro, and Jeff Clune · 2022
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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 · 2022
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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LoRA: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2022
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Interactive language: Talking to robots in real time, 2022
Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, and Pete Florence · 2022
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Cacti: A framework for scalable multi-task multi-scene visual imitation learning
Zhao Mandi, Homanga Bharadhwaj, Vincent Moens, Shuran Song, Aravind Rajeswaran, and Vikash Kumar · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Assembly101: A large-scale multi-view video dataset for understanding procedural activities
F. Sener, D. Chatterjee, D. Shelepov, K. He, D. Singhania, R. Wang, and A. Yao · 2022
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Genaug: Retargeting behaviors to unseen situations via generative augmentation
Zoey Chen, Sho Kiami, Abhishek Gupta, and Vikash Kumar · 2023
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Imitating task and motion planning with visuomotor transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, and Dieter Fox · 2023
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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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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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Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
Huy Ha, Pete Florence, and Shuran Song · 2023
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Grounded decoding: Guiding text generation with grounded models for embodied agents
Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, et al · 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.
Language-driven representation learning for robotics
Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, and Percy Liang · 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.
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
Adaflow: Imitation learning with variance-adaptive flow-based policies
Xixi Hu, Bo Liu, Xingchao Liu, and Qiang Liu · 2024
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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
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Open teach: A versatile teleoperation system for robotic manipulation
Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, and Lerrel Pinto · 2024
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Dexmimicgen: Automated data generation for bimanual dexterous manipulation via imitation learning
Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan, and Yuke Zhu · 2024
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EgoMimic: Scaling imitation learning via egocentric video, 2024
Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, and Danfei Xu · 2024
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Cited alongside, same era.
Text2motion: from natural language instructions to feasible plans
Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, and Jeannette Bohg · 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.
Mimicgen: A data generation system for scalable robot learning using human demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, and Dieter Fox · 2023
Cited alongside, same era.
Scaling open-vocabulary object detection
Matthias Minderer, Alexey A. Gritsenko, and Neil Houlsby · 2023
Cited alongside, same era.
Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
Cited alongside, same era.
Mutex: Learning unified policies from multimodal task specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 2023
Cited alongside, same era.
Progprompt: Generating situated robot task plans using large language models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2023
Cited alongside, same era.
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, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
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Stiv: Scalable text and image conditioned video generation
Zongyu Lin, Wei Liu, Chen Chen, Jiasen Lu, Wenze Hu, Tsu-Jui Fu, Jesse Allardice, Zhengfeng Lai, Liangchen Song, Bowen Zhang, et al · 2024
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 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, 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
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Open X-Embodiment: Robotic learning datasets and RT-X models
Open X-Embodiment Collaboration 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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Robogen: Towards unleashing infinite data for automated robot learning via generative simulation
Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, and Chuang Gan · 2024
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, et al · 2024
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Pandora: Towards general world model with natural language actions and video states
Jiannan Xiang, Guangyi Liu, Yi Gu, Qiyue Gao, Yuting Ning, Yuheng Zha, Zeyu Feng, Tianhua Tao, Shibo Hao, Yemin Shi, et al · 2024
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Cogvideox: Text-to-video diffusion models with an expert transformer
Zhuoyi Yang, Jiayan Teng, Wendi Zheng, Ming Ding, Shiyu Huang, Jiazheng Xu, Yuanming Yang, Wenyi Hong, Xiaohan Zhang, Guanyu Feng, et al · 2024
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Mink: Python inverse kinematics based on MuJoCo, July 2024
Kevin Zakka · 2024
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3d-vla: 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
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Cosmos world foundation model platform for physical ai
Niket Agarwal, Arslan Ali, Maciej Bala, Yogesh Balaji, Erik Barker, Tiffany Cai, Prithvijit Chattopadhyay, Yongxin Chen, Yin Cui, Yifan Ding, et al · 2025
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Smollm2: When smol goes big–data-centric training of a small language model
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Eagle 2: Building post-training data strategies from scratch for frontier vision-language models
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Osmo platform, 2025
NVIDIA · 2025
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Legato: Cross-embodiment imitation using a grasping tool
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TraceVLA: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
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