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General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities.
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Michael L Anderson · 2003
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Daniel Kahneman · 2011
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Robot learning in homes: Improving generalization and reducing dataset bias
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Prakashchand Gandhi, and Lerrel Pinto · 2018
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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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Interactive visual grounding of referring expressions for human-robot interaction
Mohit Shridhar and David Hsu · 2018
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Scaling data-driven robotics with reward sketching and batch reinforcement learning
Serkan Cabi, Sergio Gómez Colmenarejo, Alexander Novikov, Ksenia Konyushkova, Scott Reed, Rae Jeong, Konrad Zolna, Yusuf Aytar, David Budden, Mel Vecerik, et al · 2019
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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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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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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Ingress: Interactive visual grounding of referring expressions
Mohit Shridhar, Dixant Mittal, and David Hsu · 2020
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Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 2022
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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
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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Pali-3 vision language models: Smaller, faster, stronger
Xi Chen, Xiao Wang, Lucas Beyer, Alexander Kolesnikov, Jialin Wu, Paul Voigtlaender, Basil Mustafa, Sebastian Goodman, Ibrahim Alabdulmohsin, Piotr Padlewski, et al · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, et al · 2023
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Look before you leap: Unveiling the power of gpt-4v in robotic vision-language planning
Yingdong Hu, Fanqi Lin, Tong Zhang, Li Yi, and Yang Gao · 2023
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Grounded decoding: Guiding text generation with grounded models for embodied agents
Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, et al · 2023
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Gvcci: Lifelong learning of visual grounding for language-guided robotic manipulation
Junghyun Kim, Gi-Cheon Kang, Jaein Kim, Suyeon Shin, and Byoung-Tak Zhang · 2023
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Embodiedgpt: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 2023
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Open-world object manipulation using pre-trained vision-language models
Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, et al · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Quan Vuong, Sergey Levine, Homer Rich Walke, Karl Pertsch, Anikait Singh, Ria Doshi, Charles Xu, Jianlan Luo, Liam Tan, Dhruv Shah, et al · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 2023
Yell at your robot: Improving on-the-fly from language corrections
Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, and Chelsea Finn · 2024
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Does diffusion policy produce multi-modal actions?, 2024
Alexander Soare · 2024
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Qwen2-vl: Enhancing vision-language model’s perception of the world at any resolution
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
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Pushing the limits of cross-embodiment learning for manipulation and navigation
Jonathan Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, and Sergey Levine · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
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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 fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Rt-h: Action hierarchies using language
Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quon Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, and Dorsa Sadigh · 2024
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Paligemma: A versatile 3b vlm for transfer
Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, et al · 2024
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Hifi-cs: Towards open vocabulary visual grounding for robotic grasping using vision-language models
Vineet Bhat, Prashanth Krishnamurthy, Ramesh Karri, and Farshad Khorrami · 2024
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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, et al · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Closed-loop open-vocabulary mobile manipulation with gpt-4v
Peiyuan Zhi, Zhiyuan Zhang, Yu Zhao, Muzhi Han, Zeyu Zhang, Zhitian Li, Ziyuan Jiao, Baoxiong Jia, and Siyuan Huang · 2024
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Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
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Training strategies for efficient embodied reasoning
William Chen, Suneel Belkhale, Suvir Mirchandani, Oier Mees, Danny Driess, Karl Pertsch, and Sergey Levine · 2025
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Helix: A vision-language-action model for generalist humanoid control, 2025
Figure · 2025
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Otter: A vision-language-action model with text-aware visual feature extraction
Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, and Pieter Abbeel · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, et al · 2025
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Hamster: Hierarchical action models for open-world robot manipulation
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, et al · 2025
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Sim-and-real co-training: A simple recipe for vision-based robotic manipulation
Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, et al · 2025
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Introducing 4o image generation, 2025
OpenAI · 2025
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Fast: Efficient action tokenization for vision-language-action models
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Hi robot: Open-ended instruction following with hierarchical vision-language-action models
Lucy Xiaoyang Shi, Brian Ichter, Michael Equi, Liyiming Ke, Karl Pertsch, Quan Vuong, James Tanner, Anna Walling, Haohuan Wang, Niccolo Fusai, et al · 2025
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Gemini robotics: Bringing ai into the physical world
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, et al · 2025
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Dexvla: Vision-language model with plug-in diffusion expert for general robot control
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Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
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Chatvla: Unified multimodal understanding and robot control with vision-language-action model
Zhongyi Zhou, Yichen Zhu, Minjie Zhu, Junjie Wen, Ning Liu, Zhiyuan Xu, Weibin Meng, Ran Cheng, Yaxin Peng, Chaomin Shen, et al · 2025
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Objectvla: End-to-end open-world object manipulation without demonstration
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