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Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood.
Scaling laws for neural language models
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Principal component analysis
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Visualizing data using t-sne
L. van der Maaten and G. Hinton · 2008
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A CPG-based locomotion control architecture for hexapod robot
Haitao Yu, Wei Guo, Jing Deng, Mantian Li, and Hegao Cai · 2013
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Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain
H. Zhang, Y. Liu, J. Zhao, J. Chen, and J. Yan · 2014
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Revisiting unreasonable effectiveness of data in deep learning era
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Proximal policy optimization algorithms
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Attention is all you need
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SGDR: stochastic gradient descent with warm restarts
I. Loshchilov and F. Hutter · 2017
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Exploring the limits of weakly supervised pretraining
D. Mahajan, R. B. Girshick, V. Ramanathan, K. He, M. Paluri, Y. Li, A. Bharambe, and L. van der Maaten · 2018
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Nervenet: Learning structured policy with graph neural networks
T. Wang, R. Liao, J. Ba, and S. Fidler · 2018
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Sim-to-real transfer of robotic control with dynamics randomization
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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UMAP: uniform manifold approximation and projection for dimension reduction
L. McInnes and J. Healy · 2018
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Robonet: Large-scale multi-robot learning
S. Dasari, F. Ebert, S. Tian, S. Nair, B. Bucher, K. Schmeckpeper, S. Singh, S. Levine, and C. Finn · 2019
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Learning action-transferable policy with action embedding
Y. Chen, Y. Chen, Z. Hu, T. Yang, C. Fan, Y. Yu, and J. Hao · 2019
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Skill transfer in deep reinforcement learning under morphological heterogeneity
Y. Hu and G. Montana · 2019
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Decoupled weight decay regularization
I. Loshchilov and F. Hutter · 2019
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Graspnet-1billion: A large-scale benchmark for general object grasping
H. Fang, C. Wang, M. Gou, and C. Lu · 2020
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One policy to control them all: Shared modular policies for agent-agnostic control
W. Huang, I. Mordatch, and D. Pathak · 2020
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Robogrammar: graph grammar for terrain-optimized robot design
A. Zhao, J. Xu, M. Konaković-Luković, J. Hughes, A. Spielberg, D. Rus, and W. Matusik · 2020
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Automated design of robotic hands for in-hand manipulation tasks
C. Hazard, N. Pollard, and S. Coros · 2020
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Blind Hexapod Locomotion in Complex Terrain with Gait Adaptation Using Deep Reinforcement Learning and Classification
T. Azayev and K. Zimmerman · 2020
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Development of a Running Hexapod Robot with Differentiated Front and Hind Leg Morphology and Functionality
J.-R. Chiu, Y.-C. Huang, H.-C. Chen, K.-Y. Tseng, and P.-C. Lin · 2020
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Emerging properties in self-supervised vision transformers
M. Caron, H. Touvron, I. Misra, H. Jégou, J. Mairal, P. Bojanowski, and A. Joulin · 2021
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Making pre-trained language models better few-shot learners
T. Gao, A. Fisch, and D. Chen · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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A cpg-based agile and versatile locomotion framework using proximal symmetry loss
M. Kasaei, M. Abreu, N. Lau, A. Pereira, and L. P. Reis · 2021
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Adaptive locomotion control of a hexapod robot via bio-inspired learning
W. Ouyang, H. Chi, J. Pang, W. Liang, and Q. Ren · 2021
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Scaling vision transformers
X. Zhai, A. Kolesnikov, N. Houlsby, and L. Beyer · 2022
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Training language models to follow instructions with human feedback
L. Ouyang, J. Wu, X. Jiang, D. Almeida, C. L. Wainwright, P. Mishkin, C. Zhang, S. Agarwal, K. Slama, A. Ray, J. Schulman, J. Hilton, F. Kelton, L. Miller, M. Simens, A. Askell, P. Welinder, P. F. Christiano, J. Leike, and R. Lowe · 2022
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Palm: Scaling language modeling with pathways, 2022
A. Chowdhery, S. Narang, J. Devlin, M. Bosma, G. Mishra, A. Roberts, P. Barham, H. W. Chung, C. Sutton, S. Gehrmann, P. Schuh, K. Shi, S. Tsvyashchenko, J. Maynez, A. Rao, P. Barnes, Y. Tay, N. Shazeer, V. Prabhakaran, E. Reif, N. Du, B. Hutchinson, R. Pope, J. Bradbury, J. Austin, M. Isard, G. Gur-Ari, P. Yin, T. Duke, A. Levskaya, S. Ghemawat, S. Dev, H. Michalewski, X. Garcia, V. Misra, K. Robinson, L. Fedus, D. Zhou, D. Ippolito, D. Luan, H. Lim, B. Zoph, A. Spiridonov, R. Sepassi, D. Dohan, S. Agrawal, M. Omernick, A. M. Dai, T. S. Pillai, M. Pellat, A. Lewkowycz, E. Moreira, R. Child, O. Polozov, K. Lee, Z. Zhou, X. Wang, B. Saeta, M. Diaz, O. Firat, M. Catasta, J. Wei, K. Meier-Hellstern, D. Eck, J. Dean, S. Petrov, and N. Fiedel · 2022
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Training compute-optimal large language models
J. Hoffmann, S. Borgeaud, A. Mensch, E. Buchatskaya, T. Cai, E. Rutherford, D. de Las Casas, L. A. Hendricks, J. Welbl, A. Clark, T. Hennigan, E. Noland, K. Millican, G. van den Driessche, B. Damoc, A. Guy, S. Osindero, K. Simonyan, E. Elsen, J. W. Rae, O. Vinyals, and L. Sifre · 2022
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Whodunit? learning to contrast for authorship attribution
B. Ai, Y. Wang, Y. Tan, and S. Tan · 2022
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Generalization with lossy affordances: Leveraging broad offline data for learning visuomotor tasks
K. Fang, P. Yin, A. Nair, H. Walke, G. Yan, and S. Levine · 2022
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
F. Ebert, Y. Yang, K. Schmeckpeper, B. Bucher, G. Georgakis, K. Daniilidis, C. Finn, and S. Levine · 2022
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Deep visual navigation under partial observability
B. Ai, W. Gao, Vinay, and D. Hsu · 2022
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Improving policy optimization with generalist-specialist learning
Z. Jia, X. Li, Z. Ling, S. Liu, Y. Wu, and H. Su · 2022
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Anymorph: Learning transferable polices by inferring agent morphology
B. Trabucco, M. Phielipp, and G. Berseth · 2022
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A system for morphology-task generalization via unified representation and behavior distillation
H. Furuta, Y. Iwasawa, Y. Matsuo, and S. S. Gu · 2022
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Genloco: Generalized locomotion controllers for quadrupedal robots
G. Feng, H. Zhang, Z. Li, X. B. Peng, B. Basireddy, L. Yue, Z. Song, L. Yang, Y. Liu, K. Sreenath, and S. Levine · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Foundationpose: Unified 6d pose estimation and tracking of novel objects
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2024
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Dinov2: Learning robust visual features without supervision
M. Oquab, T. Darcet, T. Moutakanni, H. V. Vo, M. Szafraniec, V. Khalidov, P. Fernandez, D. Haziza, F. Massa, A. El-Nouby, M. Assran, N. Ballas, W. Galuba, R. Howes, P. Huang, S. Li, I. Misra, M. Rabbat, V. Sharma, G. Synnaeve, H. Xu, H. Jégou, J. Mairal, P. Labatut, A. Joulin, and P. Bojanowski · 2024
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Octo: An open-source generalist robot policy
D. Ghosh, H. R. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, T. Kreiman, C. Xu, J. Luo, Y. L. Tan, L. Y. Chen, Q. Vuong, T. Xiao, P. R. Sanketi, D. Sadigh, C. Finn, and S. Levine · 2024
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RH20T: A comprehensive robotic dataset for learning diverse skills in one-shot
H. Fang, H. Fang, Z. Tang, J. Liu, C. Wang, J. Wang, H. Zhu, and C. Lu · 2024
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Openvla: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. P. Foster, P. R. Sanketi, Q. Vuong, T. Kollar, B. Burchfiel, R. Tedrake, D. Sadigh, S. Levine, P. Liang, and C. Finn · 2024
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T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2022
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Adapting rapid motor adaptation for bipedal robots
A. Kumar, Z. Li, J. Zeng, D. Pathak, K. Sreenath, and J. Malik · 2022
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Learning to walk in minutes using massively parallel deep reinforcement learning
N. Rudin, D. Hoeller, P. Reist, and M. Hutter · 2022
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Rapid locomotion via reinforcement learning
G. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal · 2022
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Learning and deploying robust locomotion policies with minimal dynamics randomization
L. Campanaro, S. Gangapurwala, W. Merkt, and I. Havoutis · 2022
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A walk in the park: Learning to walk in 20 minutes with model-free reinforcement learning
L. Smith, I. Kostrikov, and S. Levine · 2022
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Adversarial body shape search for legged robots
T. Azakami, H. Kera, and K. Kawamoto · 2022
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Data scaling laws in imitation learning for robotic manipulation
F. Lin, Y. Hu, P. Sheng, C. Wen, J. You, and Y. Gao · 2024
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Intentionnet: Map-lite visual navigation at the kilometre scale, 2024
W. Gao, B. Ai, J. Loo, Vinay, and D. Hsu · 2024
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Invariance is key to generalization: Examining the role of representation in sim-to-real transfer for visual navigation
B. Ai, Z. Wu, and D. Hsu · 2024
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Get-zero: Graph embodiment transformer for zero-shot embodiment generalization
A. Patel and S. Song · 2024
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One policy to run them all: an end-to-end learning approach to multi-embodiment locomotion
N. Bohlinger, G. Czechmanowski, M. Krupka, P. Kicki, K. Walas, J. Peters, and D. Tateo · 2024
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Cross domain policy transfer with effect cycle-consistency
R. Zhu, T. Dai, and O. Celiktutan · 2024
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Meta-evolve: Continuous robot evolution for one-to-many policy transfer
X. Liu, D. Pathak, and D. Zhao · 2024
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Germ: A generalist robotic model with mixture-of-experts for quadruped robot
W. Song, H. Zhao, P. Ding, C. Cui, S. Lyu, Y. Fan, and D. Wang · 2024
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Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
R. Doshi, H. R. Walke, O. Mees, S. Dasari, and S. Levine · 2024
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Manyquadrupeds: Learning a single locomotion policy for diverse quadruped robots
M. Shafiee, G. Bellegarda, and A. Ijspeert · 2024
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The one ring: a robotic indoor navigation generalist
A. Eftekhar, L. Weihs, R. Hendrix, E. Caglar, J. Salvador, A. Herrasti, W. Han, E. VanderBil, A. Kembhavi, A. Farhadi, et al · 2024
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Berkeley humanoid: A research platform for learning-based control
Q. Liao, B. Zhang, X. Huang, X. Huang, Z. Li, and K. Sreenath · 2024
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Z. Zhuang, S. Yao, and H. Zhao · 2024
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Soloparkour: Constrained reinforcement learning for visual locomotion from privileged experience
E. Chane-Sane, J. Amigo, T. Flayols, L. Righetti, and N. Mansard · 2024
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Learning to walk from three minutes of real-world data with semi-structured dynamics models
J. Levy, T. Westenbroek, and D. Fridovich-Keil · 2024
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Get-zero: Graph embodiment transformer for zero-shot embodiment generalization
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Expressive whole-body control for humanoid robots
X. Cheng, Y. Ji, J. Chen, R. Yang, G. Yang, and X. Wang · 2024
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Exbody2: Advanced expressive humanoid whole-body control
M. Ji, X. Peng, F. Liu, J. Li, G. Yang, X. Cheng, and X. Wang · 2024
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Humanoidbench: Simulated humanoid benchmark for whole-body locomotion and manipulation
C. Sferrazza, D. Huang, X. Lin, Y. Lee, and P. Abbeel · 2024
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Visual whole-body control for legged loco-manipulation
M. Liu, Z. Chen, X. Cheng, Y. Ji, R. Qiu, R. Yang, and X. Wang · 2024
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Agile but safe: Learning collision-free high-speed legged locomotion
T. He, C. Zhang, W. Xiao, G. He, C. Liu, and G. Shi · 2024
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Rapid locomotion via reinforcement learning
G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal · 2024
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Versatile locomotion skills for hexapod robots
T. Qu, D. Li, A. Zakhor, W. Yu, and T. Zhang · 2024
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Diffusion dynamics models with generative state estimation for cloth manipulation
T. Tian, H. Li, B. Ai, X. Yuan, Z. Huang, and H. Su · 2025
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Do vision-language models have internal world models? towards an atomic evaluation
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