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Reasoning over long sequences of observations and actions is essential for many robotic tasks.
A survey of robot learning from demonstration
Brenna D. Argall, Sonia Chernova, Manuela Veloso, and Brett Browning · 2009
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Efficient Reductions for Imitation Learning
Stephane Ross and Drew Bagnell · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning, 2011
Stephane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2011
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Causal Confusion in Imitation Learning
Pim de Haan, Dinesh Jayaraman, and Sergey Levine · 2019
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Recent Advances in Robot Learning from Demonstration
Harish Ravichandar, Athanasios S. Polydoros, Sonia Chernova, and Aude Billard · 2020
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Fighting Copycat Agents in Behavioral Cloning from Observation Histories
Chuan Wen, Jierui Lin, Trevor Darrell, Dinesh Jayaraman, and Yang Gao · 2020
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Training Verifiers to Solve Math Word Problems
Karl Cobbe, Vineet Kosaraju, Mohammad Bavarian, Mark Chen, Heewoo Jun, Lukasz Kaiser, Matthias Plappert, Jerry Tworek, Jacob Hilton, Reiichiro Nakano, Christopher Hesse, and John Schulman · 2021
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Feedback in imitation learning: The three regimes of covariate shift, 2021
Jonathan Spencer, Sanjiban Choudhury, Arun Venkatraman, Brian Ziebart, and J. Andrew Bagnell · 2021
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Keyframe-focused visual imitation learning, 2021
Chuan Wen, Jierui Lin, Jianing Qian, Yang Gao, and Dinesh Jayaraman · 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 · 2022
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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Let’s Verify Step by Step
Hunter Lightman, Vineet Kosaraju, Yuri Burda, Harrison Edwards, Bowen Baker, Teddy Lee, Jan Leike, John Schulman, Ilya Sutskever, and Karl Cobbe · 2023
Earlier work this paper cites.
Robot Learning with Sensorimotor Pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Regularized behavior cloning for blocking the leakage of past action information
Seokin Seo, HyeongJoo Hwang, Hongseok Yang, and Kee-Eung Kim · 2023
Cited alongside, same era.
Large Language Models are Better Reasoners with Self-Verification
Yixuan Weng, Minjun Zhu, Fei Xia, Bin Li, Shizhu He, Shengping Liu, Bin Sun, Kang Liu, and Jun Zhao · 2023
Cited alongside, same era.
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
Tony Z. Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Smaller, Weaker, Yet Better: Training LLM Reasoners via Compute-Optimal Sampling
Hritik Bansal, Arian Hosseini, Rishabh Agarwal, Vinh Q. Tran, and Mehran Kazemi · 2024
Cited alongside, same era.
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2024
Rt-sketch: Goal-conditioned imitation learning from hand-drawn sketches, 2024
Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, and Stefan Schaal · 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, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Robot Learning with Super-Linear Scaling
Marcel Torne, Arhan Jain, Jiayi Yuan, Vidaaranya Macha, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, and Abhishek Gupta · 2024
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Equivariant Diffusion Policy
Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, and Robert Platt · 2024
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Cited alongside, same era.
In-Context Imitation Learning via Next-Token Prediction
Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, and Ken Goldberg · 2024
Cited alongside, same era.
BAKU: An Efficient Transformer for Multi-Task Policy Learning
Siddhant Haldar, Zhuoran Peng, and Lerrel Pinto · 2024
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 P. Foster, Pannag R. Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
Cited alongside, same era.
Behavior Generation with Latent Actions
Seungjae Lee, Yibin Wang, Haritheja Etukuru, H. Jin Kim, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
Cited alongside, same era.
Bidirectional Decoding: Improving Action Chunking via Closed-Loop Resampling
Yuejiang Liu, Jubayer Ibn Hamid, Annie Xie, Yoonho Lee, Maximilian Du, and Chelsea Finn · 2024
Cited alongside, same era.
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance
Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, and Sergey Levine · 2024
Cited alongside, same era.
Scaling llm test-time compute optimally can be more effective than scaling model parameters, 2024
Charlie Snell, Jaehoon Lee, Kelvin Xu, and Aviral Kumar · 2024
Cited alongside, same era.
OVM, Outcome-supervised Value Models for Planning in Mathematical Reasoning
Fei Yu, Anningzhe Gao, and Benyou Wang · 2024
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A Survey of Imitation Learning: Algorithms, Recent Developments, and Challenges
Maryam Zare, Parham M. Kebria, Abbas Khosravi, and Saeid Nahavandi · 2024
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Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2024
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Inference-Time Scaling for Diffusion Models beyond Scaling Denoising Steps
Nanye Ma, Shangyuan Tong, Haolin Jia, Hexiang Hu, Yu-Chuan Su, Mingda Zhang, Xuan Yang, Yandong Li, Tommi Jaakkola, Xuhui Jia, and Saining Xie · 2025
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Juntao Ren, Priya Sundaresan, Dorsa Sadigh, Sanjiban Choudhury, and Jeannette Bohg · 2025
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A Unifying Framework for Causal Imitation Learning with Hidden Confounders
Daqian Shao, Thomas Kleine Buening, and Marta Kwiatkowska · 2025
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Action Tokenizer Matters in In-Context Imitation Learning
An Dinh Vuong, Minh Nhat Vu, Dong An, and Ian Reid · 2025
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