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Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics.
Learning structured output representation using deep conditional generative models
Kihyuk Sohn, Honglak Lee, and Xinchen Yan · 2015
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Language models are few-shot learners
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
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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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Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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InstructBLIP: Towards general-purpose vision-language models with instruction tuning
Wenliang Dai, Junnan Li, Dongxu Li, Anthony Tiong, Junqi Zhao, Weisheng Wang, Boyang Li, Pascale Fung, and Steven Hoi · 2023
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Albert Q Jiang, Alexandre Sablayrolles, Arthur Mensch, Chris Bamford, Devendra Singh Chaplot, Diego de las Casas, Florian Bressand, Gianna Lengyel, Guillaume Lample, Lucile Saulnier, et al · 2023
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Jing Yu Koh, Ruslan Salakhutdinov, and Daniel Fried · 2023
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OBELICS: An open web-scale filtered dataset of interleaved image-text documents
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Blip-2: bootstrapping language-image pre-training with frozen image encoders and large language models
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Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee · 2023
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Younggyo Seo, Danijar Hafner, Hao Liu, Fangchen Liu, Stephen James, Kimin Lee, and Pieter Abbeel · 2023
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Sigmoid loss for language image pre-training
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Learning fine-grained bimanual manipulation with low-cost hardware
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Multimodal c4: An open, billion-scale corpus of images interleaved with text
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π 0 \pi 0 : A vision-language-action flow model for general robot control
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Octo: An open-source generalist robot policy
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Cambrian-1: A fully open, vision-centric exploration of multimodal llms
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Improved baselines for data-efficient perceptual augmentation of llms
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