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Scaling robot learning requires vast and diverse datasets.
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars · 1996
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Rapidly-exploring random trees: Progress and prospects: Steven m. lavalle, iowa state university, a james j. kuffner, jr., university of tokyo, tokyo, japan
S. M. LaValle and J. J. Kuffner · 2001
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Synthesis and stabilization of complex behaviors through online trajectory optimization
Y. Tassa, T. Erez, and E. Todorov · 2012
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Deep learning for detecting robotic grasps
I. Lenz, H. Lee, and A. Saxena · 2015
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Optimization and stabilization of trajectories for constrained dynamical systems
M. Posa, S. Kuindersma, and R. Tedrake · 2016
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Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours
L. Pinto and A. Gupta · 2016
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Structure-from-motion revisited
J. L. Schönberger and J.-M. Frahm · 2016
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J. Mahler, J. Liang, S. Niyaz, M. Laskey, R. Doan, X. Liu, J. A. Ojea, and K. Goldberg · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
J. Tobin, R. Fong, A. Ray, J. Schneider, W. Zaremba, and P. Abbeel · 2017
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Accurate, large minibatch sgd: Training imagenet in 1 hour
P. Goyal, P. Dollár, R. Girshick, P. Noordhuis, L. Wesolowski, A. Kyrola, A. Tulloch, Y. Jia, and K. He · 2017
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
S. Levine, P. Pastor, A. Krizhevsky, J. Ibarz, and D. Quillen · 2018
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Learning ambidextrous robot grasping policies
J. Mahler, M. Matl, V. Satish, M. Danielczuk, B. DeRose, S. McKinley, and K. Goldberg · 2019
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Crocoddyl: An efficient and versatile framework for multi-contact optimal control
C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud, M. Naveau, J. Carpentier, L. Righetti, S. Vijayakumar, and N. Mansard · 2020
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Raft: Recurrent all-pairs field transforms for optical flow
Z. Teed and J. Deng · 2020
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Incremental potential contact: intersection-and inversion-free, large-deformation dynamics
M. Li, Z. Ferguson, T. Schneider, T. R. Langlois, D. Zorin, D. Panozzo, C. Jiang, and D. M. Kaufman · 2020
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Generative pretraining from pixels
M. Chen, A. Radford, R. Child, J. Wu, H. Jun, D. Luan, and I. Sutskever · 2020
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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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Droid-slam: Deep visual slam for monocular, stereo, and rgb-d cameras
Z. Teed and J. Deng · 2021
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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 · 2021
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Lora: Low-rank adaptation of large language models
E. J. Hu, Y. Shen, P. Wallis, Z. Allen-Zhu, Y. Li, S. Wang, and W. Chen · 2021
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Ipc-graspsim: Reducing the sim2real gap for parallel-jaw grasping with the incremental potential contact model
C. M. Kim, M. Danielczuk, I. Huang, and K. Goldberg · 2022
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Self-supervised visuo-tactile pretraining to locate and follow garment features
J. Kerr, H. Huang, A. Wilcox, R. Hoque, J. Ichnowski, R. Calandra, and K. Goldberg · 2022
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Learning to localize, grasp, and hand over unmodified surgical needles
A. Wilcox, J. Kerr, B. Thananjeyan, J. Ichnowski, M. Hwang, S. Paradis, D. Fer, and K. Goldberg · 2022
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Efficiently learning single-arm fling motions to smooth garments
L. Y. Chen, H. Huang, E. Novoseller, D. Seita, J. Ichnowski, M. Laskey, R. Cheng, T. Kollar, and K. Goldberg · 2022
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Planar robot casting with real2sim2real self-supervised learning, 2022
V. Lim, H. Huang, L. Y. Chen, J. Wang, J. Ichnowski, D. Seita, M. Laskey, and K. Goldberg · 2022
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OpenAI · 2023
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Qwen-vl: A versatile vision-language model for understanding, localization, text reading, and beyond
J. Bai, S. Bai, S. Yang, S. Wang, S. Tan, P. Wang, J. Lin, C. Zhou, and J. Zhou · 2023
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Visual instruction tuning
H. Liu, C. Li, Q. Wu, and Y. J. Lee · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
Cited alongside, same era.
Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
Cited alongside, same era.
Zero-1-to-3: Zero-shot One Image to 3D Object, Mar. 2023
R. Liu, R. Wu, B. Van Hoorick, P. Tokmakov, S. Zakharov, and C. Vondrick · 2023
Cited alongside, same era.
Robogen: Towards unleashing infinite data for automated robot learning via generative simulation
Y. Wang, Z. Xian, F. Chen, T.-H. Wang, Y. Wang, K. Fragkiadaki, Z. Erickson, D. Held, and C. Gan · 2023
Cited alongside, same era.
Orbit: A unified simulation framework for interactive robot learning environments
M. Mittal, C. Yu, Q. Yu, J. Liu, N. Rudin, D. Hoeller, J. L. Yuan, R. Singh, Y. Guo, H. Mazhar, A. Mandlekar, B. Babich, G. State, M. Hutter, and A. Garg · 2023
Rovi-aug: Robot and viewpoint augmentation for cross-embodiment robot learning
L. Y. Chen, C. Xu, K. Dharmarajan, M. Z. Irshad, R. Cheng, K. Keutzer, M. Tomizuka, Q. Vuong, and K. Goldberg · 2024
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Dexmimicgen: Automated data generation for bimanual dexterous manipulation via imitation learning
Z. Jiang, Y. Xie, K. Lin, Z. Xu, W. Wan, A. Mandlekar, L. Fan, and Y. Zhu · 2024
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Automated creation of digital cousins for robust policy learning
T. Dai, J. Wong, Y. Jiang, C. Wang, C. Gokmen, R. Zhang, J. Wu, and L. Fei-Fei · 2024
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Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation
M. Torne, A. Simeonov, Z. Li, A. Chan, T. Chen, A. Gupta, and P. Agrawal · 2024
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Cited alongside, same era.
Armbench: An object-centric benchmark dataset for robotic manipulation
C. Mitash, F. Wang, S. Lu, V. Terhuja, T. Garaas, F. Polido, and M. Nambi · 2023
Cited alongside, same era.
Bridgedata v2: A dataset for robot learning at scale
H. Walke, K. Black, A. Lee, M. J. Kim, M. Du, C. Zheng, T. Zhao, P. Hansen-Estruch, Q. Vuong, A. He, V. Myers, K. Fang, C. Finn, and S. Levine · 2023
Cited alongside, same era.
Rh20t: A robotic dataset for learning diverse skills in one-shot
H.-S. Fang, H. Fang, Z. Tang, J. Liu, J. Wang, H. Zhu, and C. Lu · 2023
Cited alongside, same era.
Rt-2: Vision-language-action models transfer web knowledge to robotic control
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, X. Chen, K. Choromanski, T. Ding, D. Driess, A. Dubey, C. Finn, P. Florence, C. Fu, M. G. Arenas, K. Gopalakrishnan, K. Han, K. Hausman, A. Herzog, J. Hsu, B. Ichter, A. Irpan, N. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, I. Leal, L. Lee, T.-W. E. Lee, S. Levine, Y. Lu, H. Michalewski, I. Mordatch, K. Pertsch, K. Rao, K. Reymann, M. Ryoo, G. Salazar, P. Sanketi, P. Sermanet, J. Singh, A. Singh, R. Soricut, H. Tran, V. Vanhoucke, Q. Vuong, A. Wahid, S. Welker, P. Wohlhart, J. Wu, F. Xia, T. Xiao, P. Xu, S. Xu, T. Yu, and B. Zitkovich · 2023
Cited alongside, same era.
Safe self-supervised learning in real of visuo-tactile feedback policies for industrial insertion
L. Fu, H. Huang, L. Berscheid, H. Li, K. Goldberg, and S. Chitta · 2023
Cited alongside, same era.
Robot learning with sensorimotor pre-training
I. Radosavovic, B. Shi, L. Fu, K. Goldberg, T. Darrell, and J. Malik · 2023
Cited alongside, same era.
Mimicgen: A data generation system for scalable robot learning using human demonstrations
A. Mandlekar, S. Nasiriany, B. Wen, I. Akinola, Y. Narang, L. Fan, Y. Zhu, and D. Fox · 2023
Cited alongside, same era.
Robot see robot do: Imitating articulated object manipulation with monocular 4d reconstruction
J. Kerr, C. M. Kim, M. Wu, B. Yi, Q. Wang, K. Goldberg, and A. Kanazawa · 2024
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Garfield: Group anything with radiance fields
C. M. Kim, M. Wu, J. Kerr, M. Tancik, K. Goldberg, and A. Kanazawa · 2024
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Sugar: Surface-aligned gaussian splatting for efficient 3d mesh reconstruction and high-quality mesh rendering
A. Guédon and V. Lepetit · 2024
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Reconstructing hands in 3D with transformers
G. Pavlakos, D. Shan, I. Radosavovic, A. Kanazawa, D. Fouhey, and J. Malik · 2024
Later among the works it cites.
Gr00t n1: An open foundation model for generalist humanoid robots
J. Bjorck, F. Castañeda, N. Cherniadev, X. Da, R. Ding, L. Fan, Y. Fang, D. Fox, F. Hu, S. Huang, et al · 2025
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Gemini robotics: Bringing ai into the physical world
G. R. Team, S. Abeyruwan, J. Ainslie, J.-B. Alayrac, M. G. Arenas, T. Armstrong, A. Balakrishna, R. Baruch, M. Bauza, M. Blokzijl, et al · 2025
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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 · 2025
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Otter: A vision-language-action model with text-aware feature extraciton
H. Huang, F. Liu, L. Fu, T. Wu, M. Mukadam, J. Malik, K. Goldberg, and P. Abbeel · 2025
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Igniting the real robot revolution requires closing the “data gap”
K. Goldberg · 2025
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Zero-shot novel view and depth synthesis with multi-view geometric diffusion, 2025
V. Guizilini, M. Z. Irshad, D. Chen, G. Shakhnarovich, and R. Ambrus · 2025
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Video2policy: Scaling up manipulation tasks in simulation through internet videos
W. Ye, F. Liu, Z. Ding, Y. Gao, O. Rybkin, and P. Abbeel · 2025
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Roboverse: Towards a unified platform, dataset and benchmark for scalable and generalizable robot learning, 2025
H. Geng, F. Wang, S. Wei, Y. Li, B. Wang, B. An, C. T. Cheng, H. Lou, P. Li, Y.-J. Wang, Y. Liang, D. Goetting, C. Xu, H. Chen, Y. Qian, Y. Geng, J. Mao, W. Wan, M. Zhang, J. Lyu, S. Zhao, J. Zhang, J. Zhang, C. Zhao, H. Lu, Y. Ding, R. Gong, Y. Wang, Y. Kuang, R. Wu, B. Jia, C. Sferrazza, H. Dong, S. Huang, K. Sreenath, Y. Wang, J. Malik, and P. Abbeel · 2025
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Introducing rfm-1: Giving robots human-like reasoning capabilities, Mar. 2024
A. Sohn, A. Nagabandi, C. Florensa, D. Adelberg, D. Wu, H. Farooq, I. Clavera, J. Welborn, J. Chen, N. Mishra, P. Chen, P. Qian, P. Abbeel, R. Duan, V. Vijay, and Y. Liu · 2025
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Prime-1: Scaling large robot data for industrial reliability, Jan. 2025
V. Satish, J. Mahler, and K. Goldberg · 2025
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Sim-and-real co-training: A simple recipe for vision-based robotic manipulation
A. Maddukuri, Z. Jiang, L. Y. Chen, S. Nasiriany, Y. Xie, Y. Fang, W. Huang, Z. Wang, Z. Xu, N. Chernyadev, S. Reed, K. Goldberg, A. Mandlekar, L. Fan, and Y. Zhu · 2025
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Phantom: Training robots without robots using only human videos
M. Lepert, J. Fang, and J. Bohg · 2025
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Demogen: Synthetic demonstration generation for data-efficient visuomotor policy learning
Z. Xue, S. Deng, Z. Chen, Y. Wang, Z. Yuan, and H. Xu · 2025
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Scalable real2sim: Physics-aware asset generation via robotic pick-and-place setups
N. Pfaff, E. Fu, J. Binagia, P. Isola, and R. Tedrake · 2025
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Persistent object gaussian splat (pogs) for tracking human and robot manipulation of irregularly shaped objects
J. Yu, K. Hari, K. El-Refai, A. Dalil, J. Kerr, C.-M. Kim, R. Cheng, M. Z. Irshad, and K. Goldberg · 2025
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Pyroki: A modular toolkit for robot kinematic optimization, 2025
C. M. Kim*, B. Yi*, H. Choi, Y. Ma, K. Goldberg, and A. Kanazawa · 2025
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Fast: Efficient action tokenization for vision-language-action models
K. Pertsch, K. Stachowicz, B. Ichter, D. Driess, S. Nair, Q. Vuong, O. Mees, C. Finn, and S. Levine · 2025
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Scalable real2sim: Physics-aware asset generation via robotic pick-and-place setups
N. Pfaff, E. Fu, J. Binagia, P. Isola, and R. Tedrake · 2025
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Empirical analysis of sim-and-real cotraining of diffusion policies for planar pushing from pixels
A. Wei, A. Agarwal, B. Chen, R. Bosworth, N. Pfaff, and R. Tedrake · 2025
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