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Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision.
Challenges of real-world reinforcement learning, 2019
Gabriel Dulac-Arnold, Daniel Mankowitz, and Todd Hester · 1904
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 1910
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Practical motion capture in everyday surroundings
Daniel Vlasic, Rolf Adelsberger, Giovanni Vannucci, John Barnwell, Markus Gross, Wojciech Matusik, and Jovan Popović · 2007
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Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Denoising diffusion implicit models, 2022
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2010
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Imagenet classification with deep convolutional neural networks
Alex Krizhevsky, Ilya Sutskever, and Geoffrey E Hinton · 2012
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Coppeliasim (formerly v-rep): a versatile and scalable robot simulation framework
E. Rohmer, S. P. N. Singh, and M. Freese · 2013
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Robotic virtual reality simulation plus standard robotic orientation versus standard robotic orientation alone: a randomized controlled trial
Christine M Vaccaro, Catrina C Crisp, Angela N Fellner, Christopher Jackson, Steven D Kleeman, and James Pavelka · 2013
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Simulation tools for model-based robotics: Comparison of bullet, havok, mujoco, ode and physx
Tom Erez, Yuval Tassa, and Emanuel Todorov · 2015
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Structure-from-motion revisited
Johannes Lutz Schönberger and Jan-Michael Frahm · 2016
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Pixelwise view selection for unstructured multi-view stereo
Johannes Lutz Schönberger, Enliang Zheng, Marc Pollefeys, and Jan-Michael Frahm · 2016
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Matterport3d: Learning from rgb-d data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niebner, Manolis Savva, Shuran Song, Andy Zeng, and Yinda Zhang · 2017
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Film: Visual reasoning with a general conditioning layer, 2017
Ethan Perez, Florian Strub, Harm de Vries, Vincent Dumoulin, and Aaron Courville · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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3dmatch: Learning local geometric descriptors from rgb-d reconstructions
Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao, and Thomas Funkhouser · 2017
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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, et al · 2018
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Robonet: Large-scale multi-robot learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2019
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Pyrep: Bringing v-rep to deep robot learning
Stephen James, Marc Freese, and Andrew J. Davison · 2019
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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Hydra - a framework for elegantly configuring complex applications, 2019
Omry Yadan · 2019
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Rl star platform: Reinforcement learning for simulation based training of robots
Tamir Blum, Gabin Paillet, Mickael Laine, and Kazuya Yoshida · 2020
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Graspnet-1billion: A large-scale benchmark for general object grasping
Hao-Shu Fang, Chenxi Wang, Minghao Gou, and Cewu Lu · 2020
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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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Sim2real predictivity: Does evaluation in simulation predict real-world performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, and Dhruv Batra · 2020
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Beyond the nav-graph: Vision-and-language navigation in continuous environments
Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, and Stefan Lee · 2020
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Room-across-room: Multilingual vision-and-language navigation with dense spatiotemporal grounding
Alexander Ku, Peter Anderson, Roma Patel, Eugene Ie, and Jason Baldridge · 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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Unrealrox: an extremely photorealistic virtual reality environment for robotics simulations and synthetic data generation
Pablo Martinez-Gonzalez, Sergiu Oprea, Alberto Garcia-Garcia, Alvaro Jover-Alvarez, Sergio Orts-Escolano, and Jose Garcia-Rodriguez · 2020
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Deepclaw: A robotic hardware benchmarking platform for learning object manipulation
Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, and Chaoyang Song · 2020
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SAPIEN: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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robosuite: A modular simulation framework and benchmark for robot learning
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Soroush Nasiriany, and Yifeng Zhu · 2020
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Pybullet, a python module for physics simulation for games, robotics and machine learning, 2016–2021
Erwin Coumans and Yunfei Bai · 2021
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Brax - a differentiable physics engine for large scale rigid body simulation, 2021
C. Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, and Olivier Bachem · 2021
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3d-future: 3d furniture shape with texture
Huan Fu, Rongfei Jia, Lin Gao, Mingming Gong, Binqiang Zhao, Steve Maybank, and Dacheng Tao · 2021
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Lora: Low-rank adaptation of large language models, 2021
Edward J. Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning, 2021
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and Gavriel State · 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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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Learning to fly—a gym environment with pybullet physics for reinforcement learning of multi-agent quadcopter control
Jacopo Panerati, Hehui Zheng, SiQi Zhou, James Xu, Amanda Prorok, and Angela P Schoellig · 2021
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Stable-baselines3: Reliable reinforcement learning implementations
Antonin Raffin, Ashley Hill, Adam Gleave, Anssi Kanervisto, Maximilian Ernestus, and Noah Dormann · 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, et al · 2021
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An open-source multi-goal reinforcement learning environment for robotic manipulation with pybullet
Xintong Yang, Ze Ji, Jing Wu, and Yu-Kun Lai · 2021
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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
Open6dor: Benchmarking open-instruction 6-dof object rearrangement and a vlm-based approach
Yufei Ding, Haoran Geng, Chaoyi Xu, Xiaomeng Fang, Jiazhao Zhang, Songlin Wei, Qiyu Dai, Zhizheng Zhang, and He Wang · 2024
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Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2024
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Skillmimicgen: Automated demonstration generation for efficient skill learning and deployment
Caelan Garrett, Ajay Mandlekar, Bowen Wen, and Dieter Fox · 2024
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Humanoid-gym: Reinforcement learning for humanoid robot with zero-shot sim2real transfer, 2024
Xinyang Gu, Yen-Jen Wang, and Jianyu Chen · 2024
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Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
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Domain randomization-enhanced depth simulation and restoration for perceiving and grasping specular and transparent objects
Qiyu Dai, Jiyao Zhang, Qiwei Li, Tianhao Wu, Hao Dong, Ziyuan Liu, Ping Tan, and He Wang · 2022
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Procthor: Large-scale embodied ai using procedural generation
Matt Deitke, Eli VanderBilt, Alvaro Herrasti, Luca Weihs, Kiana Ehsani, Jordi Salvador, Winson Han, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2022
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Temporal difference learning for model predictive control
Nicklas Hansen, Xiaolong Wang, and Hao Su · 2022
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Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
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Chung Min Kim, Michael Danielczuk, Isabella Huang, and Ken Goldberg · 2022
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Hoi4d: A 4d egocentric dataset for category-level human-object interaction
Yunze Liu, Yun Liu, Che Jiang, Kangbo Lyu, Weikang Wan, Hao Shen, Boqiang Liang, Zhoujie Fu, He Wang, and Li Yi · 2022
Cited alongside, same era.
Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 2022
Cited alongside, same era.
Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, and Shuran Song · 2024
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Td-mpc2: Scalable, robust world models for continuous control
Nicklas Hansen, Hao Su, and Xiaolong Wang · 2024
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2d gaussian splatting for geometrically accurate radiance fields
Binbin Huang, Zehao Yu, Anpei Chen, Andreas Geiger, and Shenghua Gao · 2024
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Sceneverse: Scaling 3d vision-language learning for grounded scene understanding
Baoxiong Jia, Yixin Chen, Huangyue Yu, Yan Wang, Xuesong Niu, Tengyu Liu, Qing Li, and Siyuan Huang · 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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Gen2sim: Scaling up robot learning in simulation with generative models
Pushkal Katara, Zhou Xian, and Katerina Fragkiadaki · 2024
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 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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Skillblender: Towards versatile humanoid whole-body control via skill blending
Yuxuan Kuang, Amine Elhafsi, Haoran Geng, Marco Pavone, and Yue Wang · 2024
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Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation, 2024
Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, and Yue Wang · 2024
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Differentiable robot rendering, 2024
Ruoshi Liu, Alper Canberk, Shuran Song, and Carl Vondrick · 2024
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Haozhe Lou, Yurong Liu, Yike Pan, Yiran Geng, Jianteng Chen, Wenlong Ma, Chenglong Li, Lin Wang, Hengzhen Feng, Lu Shi, Liyi Luo, and Yongliang Shi · 2024
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Garmentlab: A unified simulation and benchmark for garment manipulation
Haoran Lu, Ruihai Wu, Yitong Li, Sijie Li, Ziyu Zhu, Chuanruo Ning, Yan Shen, Longzan Luo, Yuanpei Chen, and Hao Dong · 2024
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Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang, and He Wang · 2024
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Latte: Latent diffusion transformer for video generation, 2024
Xin Ma, Yaohui Wang, Gengyun Jia, Xinyuan Chen, Ziwei Liu, Yuan-Fang Li, Cunjian Chen, and Yu Qiao · 2024
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Learning from massive human videos for universal humanoid pose control
Jiageng Mao, Siheng Zhao, Siqi Song, Tianheng Shi, Junjie Ye, Mingtong Zhang, Haoran Geng, Jitendra Malik, Vitor Guizilini, and Yue Wang · 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, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Reconstructing hands in 3D with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Shapellm: Universal 3d object understanding for embodied interaction
Zekun Qi, Runpei Dong, Shaochen Zhang, Haoran Geng, Chunrui Han, Zheng Ge, Li Yi, and Kaisheng Ma · 2024
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Sam 2: Segment anything in images and videos, 2024
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, Eric Mintun, Junting Pan, Kalyan Vasudev Alwala, Nicolas Carion, Chao-Yuan Wu, Ross Girshick, Piotr Dollár, and Christoph Feichtenhofer · 2024
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Infiniteworld: A unified scalable simulation framework for general visual-language robot interaction
Pengzhen Ren, Min Li, Zhen Luo, Xinshuai Song, Ziwei Chen, Weijia Liufu, Yixuan Yang, Hao Zheng, Rongtao Xu, Zitong Huang, et al · 2024
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Humanoidbench: Simulated humanoid benchmark for whole-body locomotion and manipulation, 2024
Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, and Pieter Abbeel · 2024
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Maniskill-hab: A benchmark for low-level manipulation in home rearrangement tasks, 2024
Arth Shukla, Stone Tao, and Hao Su · 2024
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Maniskill3: Gpu parallelized robotics simulation and rendering for generalizable embodied ai
Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Zhiao Huang, Roberto Calandra, Rui Chen, Shan Luo, and Hao Su · 2024
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Movie gen: A cast of media foundation models, 2024
Movie Gen team · 2024
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Gymnasium: A standard interface for reinforcement learning environments
Mark Towers, Ariel Kwiatkowski, Jordan Terry, John U Balis, Gianluca De Cola, Tristan Deleu, Manuel Goulão, Andreas Kallinteris, Markus Krimmel, Arjun KG, et al · 2024
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D3roma: Disparity diffusion-based depth sensing for material-agnostic robotic manipulation
Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, and He Wang · 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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Physcene: Physically interactable 3d scene synthesis for embodied ai
Yandan Yang, Baoxiong Jia, Peiyuan Zhi, and Siyuan Huang · 2024
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Irasim: Learning interactive real-robot action simulators, 2024
Fangqi Zhu, Hongtao Wu, Song Guo, Yuxiao Liu, Chilam Cheang, and Tao Kong · 2024
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Isaacsim simulator, 2025
NVIDIA · 2025
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Simulately wiki, 2025
Simulately Wiki · 2025
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Mujoco playground: An open-source framework for gpu-accelerated robot learning and sim-to-real transfer., 2025
Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A. Kahrs, Carlo Sferrazza, Yuval Tassa, and Pieter Abbeel · 2025
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Gstar: Gaussian surface tracking and reconstruction, 2025
Chengwei Zheng, Lixin Xue, Juan Zarate, and Jie Song · 2025
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