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Recent advancements in large multimodal models have led to the emergence of remarkable generalist capabilities in digital domains, yet their translation to physical agents such as robots remains a significant challenge.
Essentials of robust control , volume 104
Kemin Zhou and John Comstock Doyle · 1998
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Planning algorithms
Steven M LaValle · 2006
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ISO 10218: Robots and Robotic Devices : Safety Requirements for Industrial Robots
International Organization for Standardization · 2011
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ANSI/RIA R15.06-2012: Safety requirements for industrial robots and robot systems, 2012
Robotic Industries Association (RIA) · 2012
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ISO 13482 - the new safety standard for personal care robots
Theo Jacobs and Gurvinder Singh Virk · 2014
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SUN RGB-D: A RGB-D scene understanding benchmark suite
Shuran Song, Samuel P Lichtenberg, and Jianxiong Xiao · 2015
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Force control
Luigi Villani and Joris De Schutter · 2016
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JAX: composable transformations of Python+NumPy programs, 2018
James Bradbury, Roy Frostig, Peter Hawkins, Matthew James Johnson, Chris Leary, Dougal Maclaurin, George Necula, Adam Paszke, Jake VanderPlas, Skye Wanderman-Milne, and Qiao Zhang · 2018
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Control barrier functions: Theory and applications
Aaron D Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, and Paulo Tabuada · 2019
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Model cards for model reporting
Margaret Mitchell, Simone Wu, Andrew Zaldivar, Parker Barnes, Lucy Vasserman, Ben Hutchinson, Elena Spitzer, Inioluwa Deborah Raji, and Timnit Gebru · 2019
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Benchmarking protocols for evaluating small parts robotic assembly systems
Kenneth Kimble, Karl Van Wyk, Joe Falco, Elena Messina, Yu Sun, Mizuho Shibata, Wataru Uemura, and Yasuyoshi Yokokohji · 2020
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Total3DUnderstanding: Joint layout, object pose and mesh reconstruction for indoor scenes from a single image
Yinyu Nie, Xiaoguang Han, Sibo Guo, Yujing Zheng, Jian Chang, Juyong Zhang, and Shihong Yu · 2020
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Introducing Pathways: A next-generation AI architecture, 2021
Jeff Dean · 2021
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In the eye of the beholder: Gaze and actions in first person video
Yin Li, Miao Liu, and James M Rehg · 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, Gretchen Krueger, and Ilya Sutskever · 2021
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The meccano dataset: Understanding human-object interactions from egocentric videos in an industrial-like domain
Francesco Ragusa, Antonino Furnari, Salvatore Livatino, and Giovanni Maria Farinella · 2021
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Holistic 3D scene understanding from a single image with implicit representation
Jiayi Zhang, Yi Sui, Bo Shi, Marcelo H. Ang Jr, and Gim Hee Lee · 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, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
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Constitutional AI: Harmlessness from AI feedback
Yuntao Bai, Saurav Kadavath, Sandipan Kundu, Amanda Askell, Jackson Kernion, Andy Jones, Anna Chen, Anna Goldie, Azalia Mirhoseini, Cameron McKinnon, Carol Chen, Catherine Olsson, Christopher Olah, Danny Hernandez, Dawn Drain, Deep Ganguli, Dustin Li, Eli Tran-Johnson, Ethan Perez, Jamie Kerr, Jared Mueller, Jeffrey Ladish, Joshua Landau, Kamal Ndousse, Kamile Lukosuite, Liane Lovitt, Michael Sellitto, Nelson Elhage, Nicholas Schiefer, Noemi Mercado, Nova DasSarma, Robert Lasenby, Robin Larson, Sam Ringer, Scott Johnston, Shauna Kravec, Sheer El Showk, Stanislav Fort, Tamera Lanham, Timothy Telleen-Lawton, Tom Conerly, Tom Henighan, Tristan Hume, Samuel R. Bowman, Zac Hatfield-Dodds, Ben Mann, Dario Amodei, Nicholas Joseph, Sam McCandlish, Tom Brown, and Jared Kaplan · 2022
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How our principles helped define AlphaFold’s release, 2022
Koray Kavukcuoglu, Pushmeet Kohli, Lila Ibrahim, Dawn Bloxwich, and Sasha Brown · 2022
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Meccano: A multimodal egocentric dataset for humans behavior understanding in the industrial-like domain, 2022
Francesco Ragusa, Antonino Furnari, and Giovanni Maria Farinella · 2022
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ImVoxelNet: Image to voxels projection for monocular and multi-view 3d object detection
Danila Rukhovich, Anna Vorontsova, and Victor Konushin · 2022
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Chain-of-Thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Brian Ichter, Fei Xia, Ed H. Chi, Quoc V. Le, and Denny Zhou · 2022
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How to prompt your robot: A promptbook for manipulation skills with code as policies
Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jake Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, and Andy Zeng · 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
Cited alongside, same era.
Gemini: a family of highly capable multimodal models
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
Collective constitutional AI: Aligning a language model with public input
Saffron Huang, Divya Siddarth, Liane Lovitt, Thomas I Liao, Esin Durmus, Alex Tamkin, and Deep Ganguli · 2024
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Emma: End-to-end multimodal model for autonomous driving
Jyh-Jing Hwang, Runsheng Xu, Hubert Lin, Wei-Chih Hung, Jingwei Ji, Kristy Choi, Di Huang, Tong He, Paul Covington, Benjamin Sapp, et al · 2024
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Language models as zero-shot trajectory generators
Teyun Kwon, Norman Di Palo, and Edward Johns · 2024
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National Electronic Injury Surveillance System - All Injury Program (NEISS-AIP), 2024
NEISS · 2024
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Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration
Abby O’Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, et al · 2024
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RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches, 2023
Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, and Ted Xiao · 2023
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Specific versus general principles for constitutional AI
Sandipan Kundu, Yuntao Bai, Saurav Kadavath, Amanda Askell, Andrew Callahan, Anna Chen, Anna Goldie, Avital Balwit, Azalia Mirhoseini, Brayden McLean, 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
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Paco: Parts and attributes of common objects
Vignesh Ramanathan, Anmol Kalia, Vladan Petrovic, Yi Wen, Baixue Zheng, Baishan Guo, Rui Wang, Aaron Marquez, Rama Kovvuri, Abhishek Kadian, et al · 2023
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ChatGPT for Robotics: Design principles and model abilities, 2023
Sai Vemprala, Rogerio Bonatti, Arthur Bucker, and Ashish Kapoor · 2023
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Holoassist: an egocentric human interaction dataset for interactive AI assistants in the real world
Xin Wang, Taein Kwon, Mahdi Rad, Bowen Pan, Ishani Chakraborty, Sean Andrist, Dan Bohus, Ashley Feniello, Bugra Tekin, Felipe Vieira Frujeri, et al · 2023
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
Tony Z. Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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ALOHA 2: An enhanced low-cost hardware for bimanual teleoperation, 2024
ALOHA 2 Team, Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, Debidatta Dwibedi, Chelsea Finn, Pete Florence, Spencer Goodrich, Wayne Gramlich, Torr Hage, Alexander Herzog, Jonathan Hoech, Thinh Nguyen, Ian Storz, Baruch Tabanpour, Leila Takayama, Jonathan Tompson, Ayzaan Wahid, Ted Wahrburg, Sichun Xu, Sergey Yaroshenko, Kevin Zakka, and Tony Z. Zhao · 2024
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UMI-Data, 2024
UMI-Data · 2024
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Embodied AI with two arms: Zero-shot learning, safety and modularity
Jake Varley, Sumeet Singh, Deepali Jain, Krzysztof Choromanski, Andy Zeng, Somnath Basu Roy Chowdhury, Avinava Dubey, and Vikas Sindhwani · 2024
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Robotap: Tracking arbitrary points for few-shot visual imitation
Mel Vecerik, Carl Doersch, Yi Yang, Todor Davchev, Yusuf Aytar, Guangyao Zhou, Raia Hadsell, Lourdes Agapito, and Jon Scholz · 2024
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Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2024
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RealworldQA: a dataset of real-world questions from the XAI-Bench suite
XAI-org · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 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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Mobility VLA: Multimodal instruction navigation with long-context VLMs and topological graphs
Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu, Sergey Levine, and Jie Tan · 2025
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A taxonomy for evaluating generalist robot policies, 2025
Jensen Gao, Suneel Belkhale, Sudeep Dasari, Ashwin Balakrishna, Dhruv Shah, and Dorsa Sadigh · 2025
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Responsible AI progress report, 2025
Google · 2025
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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 P Foster, Pannag R Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2025
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Hamster: Hierarchical action models for open-world robot manipulation
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memme, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, et al · 2025
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Proc4Gem: Foundation models for physical agency through procedural generation
Yixin Lin, Jan Humplik, Sandy H. Huang, Leonard Hasenclever, Francesco Romano, Stefano Saliceti, Daniel Zheng, Jose Enrique Chen, Catarina Barros, Adrian Collister, Matt Young, Adil Dostmohamed, Ben Moran, Ken Caluwaerts, Marissa Giustina, Joss Moore, Kieran Connell, Francesco Nori, Nicolas Heess, Steven Bohez, and Arunkumar Byravan · 2025
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ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 2025
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