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Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness.
A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Bayesian learning via stochastic gradient langevin dynamics
Max Welling and Yee Whye Teh · 2011
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One-shot imitation learning
Yan Duan, Marcin Andrychowicz, Bradly Stadie, OpenAI Jonathan Ho, Jonas Schneider, Ilya Sutskever, Pieter Abbeel, and Wojciech Zaremba · 2017
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, and Pieter Abbeel · 2018
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Concept learning with energy-based models
Igor Mordatch · 2018
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Self-supervised correspondence in visuomotor policy learning
Peter Florence, Lucas Manuelli, and Russ Tedrake · 2019
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Implicit generation and generalization in energy-based models
Yilun Du and Igor Mordatch · 2019
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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SAPIEN: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2021
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Implicit behavioral cloning
Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, and Jonathan Tompson · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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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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Viola: Imitation learning for vision-based manipulation with object proposal priors
Yifeng Zhu, Abhishek Joshi, Peter Stone, and Yuke Zhu · 2022
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You only demonstrate once: Category-level manipulation from single visual demonstration
Bowen Wen, Wenzhao Lian, Kostas Bekris, and Stefan Schaal · 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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Implicit kinematic policies: Unifying joint and cartesian action spaces in end-to-end robot learning
Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, and Andy Zeng · 2022
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Behavior transformers: Cloning k k modes with one stone
Nur Muhammad Shafiullah, Zichen Cui, Ariuntuya Arty Altanzaya, and Lerrel Pinto · 2022
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Hydra: A real-time spatial perception system for 3d scene graph construction and optimization
Nathan Hughes, Yun Chang, and Luca Carlone · 2022
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Semantic abstraction: Open-world 3d scene understanding from 2d vision-language models
Huy Ha and Shuran Song · 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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Inner monologue: Embodied reasoning through planning with language models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, et al · 2022
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 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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Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C. Berg, Wan-Yen Lo, Piotr Dollár, and Ross Girshick · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 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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Aloha unleashed: A simple recipe for robot dexterity
Tony Z Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 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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Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, and Shuran Song · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Robot see robot do: Imitating articulated object manipulation with monocular 4d reconstruction, 2024
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Lucy Xiaoyang Shi, Archit Sharma, Tony Z Zhao, and Chelsea Finn · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Abhishek Padalkar, Acorn Pooley, Ajinkya Jain, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anikait Singh, Anthony Brohan, et al · 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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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2023
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Imitating human behaviour with diffusion models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, et al · 2023
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Grounding dino: Marrying dino with grounded pre-training for open-set object detection
Shilong Liu, Zhaoyang Zeng, Tianhe Ren, Feng Li, Hao Zhang, Jie Yang, Chunyuan Li, Jianwei Yang, Hang Su, Jun Zhu, et al · 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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Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, and Xiaolong Wang · 2023
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Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, and Angjoo Kanazawa · 2024
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Yolo-world: Real-time open-vocabulary object detection
Tianheng Cheng, Lin Song, Yixiao Ge, Wenyu Liu, Xinggang Wang, and Ying Shan · 2024
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Learning generalizable feature fields for mobile manipulation
Ri-Zhao Qiu, Yafei Hu, Ge Yang, Yuchen Song, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, and Xiaolong Wang · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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Spawnnet: Learning generalizable visuomotor skills from pre-trained network
Xingyu Lin, John So, Sashwat Mahalingam, Fangchen Liu, and Pieter Abbeel · 2024
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Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning
Qiao Gu, Ali Kuwajerwala, Sacha Morin, Krishna Murthy Jatavallabhula, Bipasha Sen, Aditya Agarwal, Corban Rivera, William Paul, Kirsty Ellis, Rama Chellappa, et al · 2024
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Roboexp: Action-conditioned scene graph via interactive exploration for robotic manipulation
Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, and Yunzhu Li · 2024
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Clio: Real-time task-driven open-set 3d scene graphs
Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, Dan Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, and Luca Carlone · 2024
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Foundations of spatial perception for robotics: Hierarchical representations and real-time systems
Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaia Abdulhai, Jared Strader, and Luca Carlone · 2024
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Indoor and outdoor 3d scene graph generation via language-enabled spatial ontologies
Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, and Luca Carlone · 2024
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Vlfm: Vision-language frontier maps for zero-shot semantic navigation
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, and Bernadette Bucher · 2024
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Think, act, and ask: Open-world interactive personalized robot navigation
Yinpei Dai, Run Peng, Sikai Li, and Joyce Chai · 2024
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Moka: Open-vocabulary robotic manipulation through mark-based visual prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel, and Sergey Levine · 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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Spatialvlm: Endowing vision-language models with spatial reasoning capabilities
Boyuan Chen, Zhuo Xu, Sean Kirmani, Brain Ichter, Dorsa Sadigh, Leonidas Guibas, and Fei Xia · 2024
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Physically grounded vision-language models for robotic manipulation
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, and Dorsa Sadigh · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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Manipulate-anything: Automating real-world robots using vision-language models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, and Ranjay Krishna · 2024
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Llm-grounder: Open-vocabulary 3d visual grounding with large language model as an agent
Jianing Yang, Xuweiyi Chen, Shengyi Qian, Nikhil Madaan, Madhavan Iyengar, David F Fouhey, and Joyce Chai · 2024
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Real-world robot applications of foundation models: A review
Kento Kawaharazuka, Tatsuya Matsushima, Andrew Gambardella, Jiaxian Guo, Chris Paxton, and Andy Zeng · 2024
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