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Generalized policy and execution efficiency constitute the two critical challenges in robotic manipulation.
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A reduction of imitation learning and structured prediction to no-regret online learning
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QT-Opt: Scalable deep reinforcement learning for vision-based robotic manipulation
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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, Silvio Savarese, and Li Fei-Fei · 2018
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Making sense of vision and touch: Self-supervised learning of multimodal representations for contact-rich tasks, 2019
Michelle A. Lee, Yuke Zhu, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, and Jeannette Bohg · 2019
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Learning dexterous in-hand manipulation
OpenAI: Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Jozefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, et al · 2020
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Robotic grasping using deep reinforcement learning
Shirin Joshi, Sulabh Kumra, and Ferat Sahin · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Shared Control Templates for Assistive Robotics
Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp, and Joern Vogel · 2020
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Mastering visual continuous control: Improved data-augmented reinforcement learning
Denis Yarats, Rob Fergus, Alessandro Lazaric, and Lerrel Pinto · 2021
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
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Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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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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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, 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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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Latent plans for task agnostic offline reinforcement learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, and Wolfram Burgard · 2022
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Bottom-up skill discovery from unsegmented demonstrations for long-horizon robot manipulation
Yifeng Zhu, Peter Stone, and Yuke Zhu · 2022
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From play to policy: Conditional behavior generation from uncurated robot data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2022
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Learning and retrieval from prior data for skill-based imitation learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar, and Yuke Zhu · 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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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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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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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, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alex Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
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Blip-2: Bootstrapping language-image pre-training with frozen image encoders and large language models
Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Abby O’Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, et al · 2023
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End-to-end affordance learning for robotic manipulation
Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, and Hao Dong · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
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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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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 · 2023
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Unleashing large-scale video generative pre-training for visual robot manipulation
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2023
Cited alongside, same era.
Prismatic vlms: Investigating the design space of visually-conditioned language models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
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Mavis: Mathematical visual instruction tuning with an automatic data engine
Renrui Zhang, Xinyu Wei, Dongzhi Jiang, Ziyu Guo, Shicheng Li, Yichi Zhang, Chengzhuo Tong, Jiaming Liu, Aojun Zhou, Bin Wei, et al · 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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pi0: 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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Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2023
Cited alongside, same era.
Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al · 2023
Cited alongside, same era.
Bridgedata v2: A dataset for robot learning at scale, 2023
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, and Sergey Levine · 2023
Cited alongside, same era.
Grounding language with visual affordances over unstructured data
Oier Mees, Jessica Borja-Diaz, and Wolfram Burgard · 2023
Cited alongside, same era.
CLVR jaco play dataset, 2023
Shivin Dass, Jullian Yapeter, Jesse Zhang, Jiahui Zhang, Karl Pertsch, Stefanos Nikolaidis, and Joseph J. Lim · 2023
Cited alongside, same era.
Multi-stage cable routing through hierarchical imitation learning
Jianlan Luo, Charles Xu, Xinyang Geng, Gilbert Feng, Kuan Fang, Liam Tan, Stefan Schaal, and Sergey Levine · 2023
Cited alongside, same era.
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Yueru Jia, Jiaming Liu, Sixiang Chen, Chenyang Gu, Zhilue Wang, Longzan Luo, Lily Lee, Pengwei Wang, Zhongyuan Wang, Renrui Zhang, et al · 2024
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Rdt-1b: a diffusion foundation model for bimanual manipulation
Songming Liu, Lingxuan Wu, Bangguo Li, Hengkai Tan, Huayu Chen, Zhengyi Wang, Ke Xu, Hang Su, and Jun Zhu · 2024
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Robomind: Benchmark on multi-embodiment intelligence normative data for robot manipulation
Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, et al · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Crayonrobo: Toward generic robot manipulation via crayon visual prompting
Xiaoqi Li, Lingyun Xu, Jiaming Liu, Mingxu Zhang, Jiahui Xu, Siyuan Huang, Iaroslav Ponomarenko, Yan Shen, Shanghang Zhang, and Hao Dong · 2024
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Autonomous interactive correction mllm for robust robotic manipulation
Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, and Hao Dong · 2024
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Naturalvlm: Leveraging fine-grained natural language for affordance-guided visual manipulation
Ran Xu, Yan Shen, Xiaoqi Li, Ruihai Wu, and Hao Dong · 2024
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Self-corrected multimodal large language model for end-to-end robot manipulation
Jiaming Liu, Chenxuan Li, Guanqun Wang, Lily Lee, Kaichen Zhou, Sixiang Chen, Chuyan Xiong, Jiaxin Ge, Renrui Zhang, and Shanghang Zhang · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, and Li Fei-Fei · 2024
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Manipllm: Embodied multimodal large language model for object-centric robotic manipulation
Xiaoqi Li, Mingxu Zhang, Yiran Geng, Haoran Geng, Yuxing Long, Yan Shen, Renrui Zhang, Jiaming Liu, and Hao Dong · 2024
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Robomamba: Efficient vision-language-action model for robotic reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Pengju An, Xiaoqi Li, Kaichen Zhou, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 2024
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Siyuan Huang, Iaroslav Ponomarenko, Zhengkai Jiang, Xiaoqi Li, Xiaobin Hu, Peng Gao, Hongsheng Li, and Hao Dong · 2024
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From llms to actions: Latent codes as bridges in hierarchical robot control, 2024
Yide Shentu, Philipp Wu, Aravind Rajeswaran, and Pieter Abbeel · 2024
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A dual process vla: Efficient robotic manipulation leveraging vlm, 2024
ByungOk Han, Jaehong Kim, and Jinhyeok Jang · 2024
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No time to train: Empowering non-parametric networks for few-shot 3d scene segmentation
Xiangyang Zhu, Renrui Zhang, Bowei He, Ziyu Guo, Jiaming Liu, Han Xiao, Chaoyou Fu, Hao Dong, and Peng Gao · 2024
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Deer-vla: Dynamic inference of multimodal large language models for efficient robot execution
Yang Yue, Yulin Wang, Bingyi Kang, Yizeng Han, Shenzhi Wang, Shiji Song, Jiashi Feng, and Gao Huang · 2024
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Fmb: a functional manipulation benchmark for generalizable robotic learning
Jianlan Luo, Charles Xu, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, and Sergey Levine · 2024
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Towards synergistic, generalized, and efficient dual-system for robotic manipulation, 2025
Qingwen Bu, Hongyang Li, Li Chen, Jisong Cai, Jia Zeng, Heming Cui, Maoqing Yao, and Yu Qiao · 2025
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Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, et al · 2025
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Lidar-llm: Exploring the potential of large language models for 3d lidar understanding
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Gr00t n1: An open foundation model for generalist humanoid robots
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Helix: A vision-language-action model for generalist humanoid control
figureai · 2025
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Spatialvla: Exploring spatial representations for visual-language-action model
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Hybridvla: Collaborative diffusion and autoregression in a unified vision-language-action model
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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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Pointvla: Injecting the 3d world into vision-language-action models, 2025
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Agibot world colosseo: A large-scale manipulation platform for scalable and intelligent embodied systems, 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization, 2025
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Knowledge insulating vision-language-action models: Train fast, run fast, generalize better
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