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Robots deployed in dynamic environments must be able to not only follow diverse language instructions but flexibly adapt when user intent changes mid-execution.
Attention is all you need
A. Vaswani, N. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, Ł. Kaiser, and I. Polosukhin · 2017
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M. Lewis, Y. Liu, N. Goyal, M. Ghazvininejad, A. Mohamed, O. Levy, V. Stoyanov, and L. Zettlemoyer · 2019
Earlier work this paper cites.
Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
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Do as i can, not as i say: Grounding language in robotic affordances
M. Ahn, A. Brohan, N. Brown, Y. Chebotar, O. Cortes, B. David, C. Finn, C. Fu, K. Gopalakrishnan, K. Hausman, et al · 2022
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Davit: Dual attention vision transformers
M. Ding, B. Xiao, N. Codella, P. Luo, J. Wang, and L. Yuan · 2022
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Roboagent: Towards sample efficient robot manipulation with semantic augmentations and action chunking
H. Bharadhwaj, J. Vakil, M. Sharma, A. Gupta, S. Tulsiani, and V. Kumar · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
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Rvt: Robotic view transformer for 3d object manipulation
A. Goyal, J. Xu, Y. Guo, V. Blukis, Y.-W. Chao, and D. Fox · 2023
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Plan4MC: Skill reinforcement learning and planning for open-world Minecraft tasks
H. Yuan, C. Zhang, H. Wang, F. Xie, P. Cai, H. Dong, and Z. Lu · 2023
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Learning neuro-symbolic programs for language guided robot manipulation
K. Namasivayam, H. Singh, V. Bindal, A. Tuli, V. Agrawal, R. Jain, P. Singla, and R. Paul · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, X. Chen, K. Choromanski, T. Ding, D. Driess, A. Dubey, C. Finn, et al · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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Vision-language foundation models as effective robot imitators
X. Li, M. Liu, H. Zhang, C. Yu, J. Xu, H. Wu, C. Cheang, Y. Jing, W. Zhang, H. Liu, et al · 2023
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Look before you leap: Unveiling the power of gpt-4v in robotic vision-language planning
Y. Hu, F. Lin, T. Zhang, L. Yi, and Y. Gao · 2023
Cited alongside, same era.
Florence-2: Advancing a unified representation for a variety of vision tasks (2023)
B. Xiao, H. Wu, W. Xu, X. Dai, H. Hu, Y. Lu, M. Zeng, C. Liu, and L. Yuan · 2023
Cited alongside, same era.
Libero: Benchmarking knowledge transfer for lifelong robot learning
B. Liu, Y. Zhu, C. Gao, Y. Feng, Q. Liu, Y. Zhu, and P. Stone · 2023
Cited alongside, same era.
Hirt: Enhancing robotic control with hierarchical robot transformers
J. Zhang, Y. Guo, X. Chen, Y.-J. Wang, Y. Hu, C. Shi, and J. Chen · 2024
Cited alongside, same era.
Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Rt-affordance: Affordances are versatile intermediate representations for robot manipulation
S. Nasiriany, S. Kirmani, T. Ding, L. Smith, Y. Zhu, D. Driess, D. Sadigh, and T. Xiao · 2024
Later among the works it cites.
Robi butler: Remote multimodal interactions with household robot assistant
A. Xiao, N. Janaka, T. Hu, A. Gupta, K. Li, C. Yu, and D. Hsu · 2024
Later among the works it cites.
Yell at your robot: Improving on-the-fly from language corrections
L. X. Shi, Z. Hu, T. Z. Zhao, A. Sharma, K. Pertsch, J. Luo, S. Levine, and C. Finn · 2024
Later among the works it cites.
Rt-h: Action hierarchies using language
S. Belkhale, T. Ding, T. Xiao, P. Sermanet, Q. Vuong, J. Tompson, Y. Chebotar, D. Dwibedi, and D. Sadigh · 2024
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open-pi-zero
A. Z. Ren · 2024
Later among the works it cites.
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Z. Fu, T. Z. Zhao, and C. Finn · 2024
Cited alongside, same era.
Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
C.-L. Cheang, G. Chen, Y. Jing, T. Kong, H. Li, Y. Li, Y. Liu, H. Wu, J. Xu, Y. Yang, et al · 2024
Cited alongside, same era.
Openvla: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, G. Lam, P. Sanketi, et al · 2024
Cited alongside, same era.
p i _ 0 pi\_0 : A vision-language-action flow model for general robot control
K. Black, N. Brown, D. Driess, A. Esmail, M. Equi, C. Finn, N. Fusai, L. Groom, K. Hausman, B. Ichter, et al · 2024
Cited alongside, same era.
Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
W. Huang, C. Wang, Y. Li, R. Zhang, and L. Fei-Fei · 2024
Cited alongside, same era.
Ok-robot: What really matters in integrating open-knowledge models for robotics
P. Liu, Y. Orru, C. Paxton, N. M. M. Shafiullah, and L. Pinto · 2024
Cited alongside, same era.
Racer: Rich language-guided failure recovery policies for imitation learning
Y. Dai, J. Lee, N. Fazeli, and J. Chai · 2024
Cited alongside, same era.
Octo: An open-source generalist robot policy
Octo Model Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, C. Xu, J. Luo, T. Kreiman, Y. Tan, L. Y. Chen, P. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
Cited alongside, same era.
Momanipvla: Transferring vision-language-action models for general mobile manipulation
Z. Wu, Y. Zhou, X. Xu, Z. Wang, and H. Yan · 2025
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Fine-tuning vision-language-action models: Optimizing speed and success
M. J. Kim, C. Finn, and P. Liang · 2025
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Hi robot: Open-ended instruction following with hierarchical vision-language-action models
L. X. Shi, B. Ichter, M. Equi, L. Ke, K. Pertsch, Q. Vuong, J. Tanner, A. Walling, H. Wang, N. Fusai, et al · 2025
Closest in time.
S. Huang, Y. Liao, S. Feng, S. Jiang, S. Liu, H. Li, M. Yao, and G. Ren · 2025
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AgiBot-World-Contributors, Q. Bu, J. Cai, L. Chen, X. Cui, Y. Ding, S. Feng, S. Gao, X. He, X. Hu, X. Huang, S. Jiang, Y. Jiang, C. Jing, H. Li, J. Li, C. Liu, Y. Liu, Y. Lu, J. Luo, P. Luo, Y. Mu, Y. Niu, Y. Pan, J. Pang, Y. Qiao, G. Ren, C. Ruan, J. Shan, Y. Shen, C. Shi, M. Shi, M. Shi, C. Sima, J. Song, H. Wang, W. Wang, D. Wei, C. Xie, G. Xu, J. Yan, C. Yang, L. Yang, S. Yang, M. Yao, J. Zeng, C. Zhang, Q. Zhang, B. Zhao, C. Zhao, J. Zhao, and J. Zhu · 2025
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Gr00t n1: An open foundation model for generalist humanoid robots
J. Bjorck, F. Castañeda, N. Cherniadev, X. Da, R. Ding, L. Fan, Y. Fang, D. Fox, F. Hu, S. Huang, et al · 2025
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Hello gpt-4o
OpenAI · 2025
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