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Humans practice slow thinking before performing actual actions when handling complex tasks in the physical world.
Thinking, fast and slow
Daniel Kahneman · 2011
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Continuous control with deep reinforcement learning
Timothy P Lillicrap, Jonathan J Hunt, Alexander Pritzel, Nicolas Heess, Tom Erez, Yuval Tassa, David Silver, and Daan Wierstra · 2015
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Addressing function approximation error in actor-critic methods
Scott Fujimoto, Herke van Hoof, and David Meger · 2018
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Soft actor-critic algorithms and applications
Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, et al · 2018
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Offline reinforcement learning: Tutorial, review, and perspectives on open problems
Sergey Levine, Aviral Kumar, George Tucker, and Justin Fu · 2020
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Cascaded diffusion models for high fidelity image generation
Jonathan Ho, Chitwan Saharia, William Chan, David J Fleet, Mohammad Norouzi, and Tim Salimans · 2021
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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 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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f-dm: A multi-stage diffusion model via progressive signal transformation
Jiatao Gu, Shuangfei Zhai, Yizhe Zhang, Miguel Angel Bautista, and Josh Susskind · 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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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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Orla*: Mobile manipulator-based object rearrangement with lazy a star
Kai Gao, Zhaxizhuoma, Yan Ding, Shiqi Zhang, and Jingjin Yu · 2023
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Libero: Benchmarking knowledge transfer for lifelong robot learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2023
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Learning causality-inspired representation consistency for video anomaly detection
Yang Liu, Zhaoyang Xia, Mengyang Zhao, Donglai Wei, Yuzheng Wang, Siao Liu, Bobo Ju, Gaoyun Fang, Jing Liu, and Liang Song · 2023
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Reflexion: Language agents with verbal reinforcement learning
Noah Shinn, Federico Cassano, Ashwin Gopinath, Karthik Narasimhan, and Shunyu Yao · 2023
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Reasoning with language model is planning with world model
Shibo Hao, Yi Gu, Haodi Ma, Joshua Jiahua Hong, Zhen Wang, Daisy Zhe Wang, and Zhiting Hu · 2023
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Selfcheck: Using llms to zero-shot check their own step-by-step reasoning
Ning Miao, Yee Whye Teh, and Tom Rainforth · 2023
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Tree of thoughts: Deliberate problem solving with large language models
Shunyu Yao, Dian Yu, Jeffrey Zhao, Izhak Shafran, Tom Griffiths, Yuan Cao, and Karthik Narasimhan · 2023
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Pre-training for robots: Offline rl enables learning new tasks from a handful of trials
Aviral Kumar, Anikait Singh, Frederik Ebert, Mitsuhiko Nakamoto, Yanlai Yang, Chelsea Finn, and Sergey Levine · 2023
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Cal-ql: Calibrated offline rl pre-training for efficient online fine-tuning
Mitsuhiko Nakamoto, Simon Zhai, Anikait Singh, Max Sobol Mark, Yi Ma, Chelsea Finn, Aviral Kumar, and Sergey Levine · 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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Improving large language model fine-tuning for solving math problems
Yixin Liu, Avi Singh, C Daniel Freeman, John D Co-Reyes, and Peter J Liu · 2023
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Vision-language foundation models as effective robot imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, et al · 2024
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Fastumi: A scalable and hardware-independent universal manipulation interface with dataset
Kehui Liu, Chuyue Guan, Zhongjie Jia, Ziniu Wu, Xin Liu, Tianyu Wang, Shuai Liang, Pengan Chen, Pingrui Zhang, Haoming Song, 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, et al · 2024
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Improving domain generalization in self-supervised monocular depth estimation via stabilized adversarial training
Yuanqi Yao, Gang Wu, Kui Jiang, Siao Liu, Jian Kuai, Xianming Liu, and Junjun Jiang · 2024
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Yang Zhang, Chenjia Bai, Bin Zhao, Junchi Yan, Xiu Li, and Xuelong Li · 2024
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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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Coherent: Collaboration of heterogeneous multi-robot system with large language models
Kehui Liu, Zixin Tang, Dong Wang, Zhigang Wang, Xuelong Li, and Bin Zhao · 2024
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Kinematic-aware prompting for generalizable articulated object manipulation with llms
Wenke Xia, Dong Wang, Xincheng Pang, Zhigang Wang, Bin Zhao, Di Hu, and Xuelong Li · 2024
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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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Moma-kitchen: A 100k+ benchmark for affordance-grounded last-mile navigation in mobile manipulation
Pingrui Zhang, Xianqiang Gao, Yuhan Wu, Kehui Liu, Dong Wang, Zhigang Wang, Bin Zhao, Yan Ding, and Xuelong Li · 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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More: Mixture of residual experts for humanoid lifelike gaits learning on complex terrains
Dewei Wang, Xinmiao Wang, Xinzhe Liu, Jiyuan Shi, Yingnan Zhao, Chenjia Bai, and Xuelong Li · 2025
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Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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A dual process vla: Efficient robotic manipulation leveraging vlm
ByungOk Han, Jaehong Kim, and Jinhyeok Jang · 2024
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Hirt: Enhancing robotic control with hierarchical robot transformers
Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, and Jianyu Chen · 2024
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Towards synergistic, generalized, and efficient dual-system for robotic manipulation
Qingwen Bu, Hongyang Li, Li Chen, Jisong Cai, Jia Zeng, Heming Cui, Maoqing Yao, and Yu Qiao · 2024
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Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, and Ted Xiao · 2024
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Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, et al · 2024
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Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2024
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Towards generalist robot policies: What matters in building vision-language-action models
Xinghang Li, Peiyan Li, Minghuan Liu, Dong Wang, Jirong Liu, Bingyi Kang, Xiao Ma, Tao Kong, Hanbo Zhang, and Huaping Liu · 2024
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Skill-nav: Enhanced navigation with versatile quadrupedal locomotion via waypoint interface
Dewei Wang, Chenjia Bai, Chenhui Li, Jiyuan Shi, Yan Ding, Chi Zhang, and Bin Zhao · 2025
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Robotic policy learning via human-assisted action preference optimization
Wenke Xia, Yichu Yang, Hongtao Wu, Xiao Ma, Tao Kong, and Di Hu · 2025
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Phoenix: A motion-based self-reflection framework for fine-grained robotic action correction
Wenke Xia, Ruoxuan Feng, Dong Wang, and Di Hu · 2025
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Think small, act big: Primitive prompt learning for lifelong robot manipulation
Yuanqi Yao, Siao Liu, Haoming Song, Delin Qu, Qizhi Chen, Yan Ding, Bin Zhao, Zhigang Wang, Xuelong Li, and Dong Wang · 2025
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Spatial-temporal graph diffusion policy with kinematic modeling for bimanual robotic manipulation
Qi Lv, Hao Li, Xiang Deng, Rui Shao, Yinchuan Li, Jianye Hao, Longxiang Gao, Michael Yu Wang, and Liqiang Nie · 2025
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Dexvla: Vision-language model with plug-in diffusion expert for general robot control
Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen, and Feifei Feng · 2025
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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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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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Helix: A vision-language-action model for generalist humanoid control, 2025
Figure · 2025
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Beyond optimal transport: Model-aligned coupling for flow matching
Yexiong Lin, Yu Yao, and Tongliang Liu · 2025
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Futuresightdrive: Thinking visually with spatio-temporal cot for autonomous driving
Shuang Zeng, Xinyuan Chang, Mengwei Xie, Xinran Liu, Yifan Bai, Zheng Pan, Mu Xu, and Xing Wei · 2025
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Universal actions for enhanced embodied foundation models
Jinliang Zheng, Jianxiong Li, Dongxiu Liu, Yinan Zheng, Zhihao Wang, Zhonghong Ou, Yu Liu, Jingjing Liu, Ya-Qin Zhang, and Xianyuan Zhan · 2025
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Cross from left to right brain: Adaptive text dreamer for vision-and-language navigation
Pingrui Zhang, Yifei Su, Pengyuan Wu, Dong An, Li Zhang, Zhigang Wang, Dong Wang, Yan Ding, Bin Zhao, and Xuelong Li · 2025
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Morphmark: Flexible adaptive watermarking for large language models
Zongqi Wang, Tianle Gu, Baoyuan Wu, and Yujiu Yang · 2025
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Sets: Leveraging self-verification and self-correction for improved test-time scaling
Jiefeng Chen, Jie Ren, Xinyun Chen, Chengrun Yang, Ruoxi Sun, and Sercan Ö Arık · 2025
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O1-pruner: Length-harmonizing fine-tuning for o1-like reasoning pruning
Haotian Luo, Li Shen, Haiying He, Yibo Wang, Shiwei Liu, Wei Li, Naiqiang Tan, Xiaochun Cao, and Dacheng Tao · 2025
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Revisiting multi-agent world modeling from a diffusion-inspired perspective
Yang Zhang, Xinran Li, Jianing Ye, Delin Qu, Shuang Qiu, Chongjie Zhang, Xiu Li, and Chenjia Bai · 2025
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High-resolution frame interpolation with patch-based cascaded diffusion
Junhwa Hur, Charles Herrmann, Saurabh Saxena, Janne Kontkanen, Wei-Sheng Lai, Yichang Shih, Michael Rubinstein, David J Fleet, and Deqing Sun · 2025
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Cascaded diffusion models for virtual try-on: Improving control and resolution
Guangyuan Li, Yongkang Wang, Junsheng Luan, Lei Zhao, Wei Xing, Huaizhong Lin, and Binkai Ou · 2025
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Spatialvla: Exploring spatial representations for visual-language-action model
Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, et al · 2025
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Fine-tuning vision-language-action models: Optimizing speed and success
Moo Jin Kim, Chelsea Finn, and Percy Liang · 2025
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