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Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions.
A Frontier-Based Approach for Autonomous Exploration
B. Yamauchi · 1997
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The RobotSlang Benchmark: Dialog-guided Robot Localization and Navigation
Shurjo Banerjee, Jesse Thomason, and Jason J. Corso · 2010
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High-dimensional continuous control using generalized advantage estimation
John Schulman, Philipp Moritz, Sergey Levine, Michael Jordan, and Pieter Abbeel · 2016
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Learning dexterous in-hand manipulation
Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Józefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, and Wojciech Zaremba · 2018
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Vision-and-dialog navigation
Jesse Thomason, Michael Murray, Maya Cakmak, and Luke Zettlemoyer · 2019
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ObjectNav revisited: On evaluation of embodied agents navigating to objects
Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, and Erik Wijmans · 2020
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DD-PPO: Learning near-perfect pointgoal navigators from 2.5 billion frames
Erik Wijmans, Abhishek Kadian, Ari Morcos, Stefan Lee, Irfan Essa, Devi Parikh, Manolis Savva, and Dhruv Batra · 2020
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Manipulathor: A framework for visual object manipulation
Kiana Ehsani, Winson Han, Alvaro Herrasti, Eli VanderBilt, Luca Weihs, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2021
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TEACh: Task-driven Embodied Agents that Chat
Aishwarya Padmakumar, Jesse Thomason, Ayush Shrivastava, Patrick Lange, Anjali Narayan-Chen, Spandana Gella, Robinson Piramuthu, Gokhan Tur, and Dilek Hakkani-Tur · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Visual room rearrangement
Luca Weihs, Matt Deitke, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2021
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Google scanned objects: A high-quality dataset of 3d scanned household items
Laura Downs, Anthony Francis, Nate Koenig, Brandon Kinman, Ryan Hickman, Krista Reymann, Thomas B. McHugh, and Vincent Vanhoucke · 2022
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Dialfred: Dialogue-enabled agents for embodied instruction following
Xiaofeng Gao, Qiaozi Gao, Ran Gong, Kaixiang Lin, Govind Thattai, and Gaurav S Sukhatme · 2022
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Inner monologue: Embodied reasoning through planning with language models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, and Brian Ichter · 2022
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Perceiver io: A general architecture for structured inputs and outputs
Andrew Jaegle, Sebastian Borgeaud, Jean-Baptiste Alayrac, Carl Doersch, Catalin Ionescu, David Ding, Skanda Koppula, Daniel Zoran, Andrew Brock, Evan Shelhamer, Olivier Hénaff, Matthew M. Botvinick, Andrew Zisserman, Oriol Vinyals, and Joāo Carreira · 2022
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Habitat-web: Learning embodied object-search strategies from human demonstrations at scale
Ram Ramrakhya, Eric Undersander, Dhruv Batra, and Abhishek Das · 2022
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Ask4help: Learning to leverage an expert for embodied tasks
Kunal Pratap Singh, Luca Weihs, Alvaro Herrasti, Jonghyun Choi, Aniruddha Kemhavi, and Roozbeh Mottaghi · 2022
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Accelerating reinforcement learning of robotic manipulations via feedback from large language models
Kun Chu, Xufeng Zhao, Cornelius Weber, Mengdi Li, and Stefan Wermter · 2023
Lap, using action feasibility for improved uncertainty alignment of large language model planners
James F. Mullen Jr. and Dinesh Manocha · 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, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
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Llava-onevision: Easy visual task transfer
Bo Li, Yuanhan Zhang, Dong Guo, Renrui Zhang, Feng Li, Hao Zhang, Kaichen Zhang, Yanwei Li, Ziwei Liu, and Chunyuan Li · 2024
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Improved baselines with visual instruction tuning
Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee · 2024
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Eureka: Human-level reward design via coding large language models
Yecheng Jason Ma, William Liang, Guanzhi Wang, De-An Huang, Osbert Bastani, Dinesh Jayaraman, Yuke Zhu, Linxi Fan, and Anima Anandkumar · 2024
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Efficient memory management for large language model serving with pagedattention
Woosuk Kwon, Zhuohan Li, Siyuan Zhuang, Ying Sheng, Lianmin Zheng, Cody Hao Yu, Joseph E. Gonzalez, Hao Zhang, and Ion Stoica · 2023
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Gpt-4 technical report, 2023
OpenAI · 2023
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Robots that ask for help: Uncertainty alignment for large language model planners
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, and Anirudha Majumdar · 2023
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Set-of-mark prompting unleashes extraordinary visual grounding in gpt-4v
Jianwei Yang, Hao Zhang, Feng Li, Xueyan Zou, Chunyuan Li, and Jianfeng Gao · 2023
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ReAct: Synergizing reasoning and acting in language models
Shunyu Yao, Jeffrey Zhao, Dian Yu, Nan Du, Izhak Shafran, Karthik Narasimhan, and Yuan Cao · 2023
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Learning reward for physical skills using large language model
Yuwei Zeng and Yiqing Xu · 2023
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π 0 \pi_{0} : 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, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, and Ury Zhilinsky · 2024
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Situated instruction following
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Open X-Embodiment: Robotic learning datasets and RT-X models
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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Habitat 3.0: A co-habitat for humans, avatars and robots
Xavi Puig, Eric Undersander, Andrew Szot, Mikael Dallaire Cote, Ruslan Partsey, Jimmy Yang, Ruta Desai, Alexander William Clegg, Michal Hlavac, Tiffany Min, Theo Gervet, Vladimir Vondrus, Vincent-Pierre Berges, John Turner, Oleksandr Maksymets, Zsolt Kira, Mrinal Kalakrishnan, Jitendra Malik, Devendra Singh Chaplot, Unnat Jain, Dhruv Batra, Akshara Rai, and Roozbeh Mottaghi · 2024
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Automated rewards via llm-generated progress functions
Vishnu Sarukkai, Brennan Shacklett, Zander Majercik, Kush Bhatia, Christopher Ré, and Kayvon Fatahalian · 2024
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Text2reward: Reward shaping with language models for reinforcement learning
Tianbao Xie, Siheng Zhao, Chen Henry Wu, Yitao Liu, Qian Luo, Victor Zhong, Yanchao Yang, and Tao Yu · 2024
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Poliformer: Scaling on-policy rl with transformers results in masterful navigators
Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, and Luca Weihs · 2024
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Scaling autonomous agents via automatic reward modeling and planning
Zhenfang Chen, Delin Chen, Rui Sun, Wenjun Liu, and Chuang Gan · 2025
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Flexible and efficient grammar-constrained decoding
Kanghee Park, Timothy Zhou, and Loris D’Antoni · 2025
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Rewarding progress: Scaling automated process verifiers for llm reasoning
Amrith Setlur, Chirag Nagpal, Adam Fisch, Xinyang Geng, Jacob Eisenstein, Rishabh Agarwal, Alekh Agarwal, Jonathan Berant, and Aviral Kumar · 2025
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