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Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions.
Decoupled weight decay regularization
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Inner monologue: Embodied reasoning through planning with language models
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Vima: General robot manipulation with multimodal prompts
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Cliport: What and where pathways for robotic manipulation
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Chain-of-thought prompting elicits reasoning in large language models
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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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Palm-e: An embodied multimodal language model
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Look before you leap: Unveiling the power of gpt-4v in robotic vision-language planning
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Interactive task planning with language models
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
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Visual instruction tuning
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Llama 2: Open foundation and fine-tuned chat models
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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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Aligning cyber space with physical world: A comprehensive survey on embodied ai
Yang Liu, Weixing Chen, Yongjie Bai, Xiaodan Liang, Guanbin Li, Wen Gao, and Liang Lin · 2024
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Pivot: Iterative visual prompting elicits actionable knowledge for vlms
Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, et al · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
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Embodied task planning with large language models
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Lohoravens: A long-horizon language-conditioned benchmark for robotic tabletop manipulation
Shengqiang Zhang, Philipp Wicke, Lütfi Kerem Şenel, Luis Figueredo, Abdeldjallil Naceri, Sami Haddadin, Barbara Plank, and Hinrich Schütze · 2023
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Erra: An embodied representation and reasoning architecture for long-horizon language-conditioned manipulation tasks
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Rt-h: Action hierarchies using language
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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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Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
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Octo: An open-source generalist robot policy
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Karma: Augmenting embodied ai agents with long-and-short term memory systems
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Diffusion-vla: Scaling robot foundation models via unified diffusion and autoregression
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Guiding long-horizon task and motion planning with vision language models
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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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Isr-llm: Iterative self-refined large language model for long-horizon sequential task planning
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Plan-and-act: Improving planning of agents for long-horizon tasks
Lutfi Eren Erdogan, Nicholas Lee, Sehoon Kim, Suhong Moon, Hiroki Furuta, Gopala Anumanchipalli, Kurt Keutzer, and Amir Gholami · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
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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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Data-agnostic robotic long-horizon manipulation with vision-language-guided closed-loop feedback
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Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
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