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In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches.
A new algorithm for data compression
Philip Gage · 1994
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Deep reinforcement learning in parameterized action space
Matthew Hausknecht and Peter Stone · 2015
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Neural discrete representation learning
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, and Karol Hausman · 2019
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 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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Language models are few-shot learners
Ben Mann, N Ryder, M Subbiah, J Kaplan, P Dhariwal, A Neelakantan, P Shyam, G Sastry, A Askell, S Agarwal, et al · 2020
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Taming transformers for high-resolution image synthesis
Patrick Esser, Robin Rombach, and Bjorn Ommer · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Soundstream: An end-to-end neural audio codec
Neil Zeghidour, Alejandro Luebs, Ahmed Omran, Jan Skoglund, and Marco Tagliasacchi · 2021
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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, Jeffrey Donahue, Pauline Luc, Alexis Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katie 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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Cogvideo: Large-scale pretraining for text-to-video generation via transformers
Wenyi Hong, Ming Ding, Wendi Zheng, Xinghan Liu, and Jie Tang · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, 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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Pali-x: On scaling up a multilingual vision and language model
Xi Chen, Josip Djolonga, Piotr Padlewski, Basil Mustafa, Soravit Changpinyo, Jialin Wu, Carlos Riquelme Ruiz, Sebastian Goodman, Xiao Wang, Yi Tay, et al · 2023
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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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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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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
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Libero: Benchmarking knowledge transfer for lifelong robot learning
Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Taming scalable visual tokenizer for autoregressive image generation
Fengyuan Shi, Zhuoyan Luo, Yixiao Ge, Yujiu Yang, Ying Shan, and Limin Wang · 2024
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Llm pruning and distillation in practice: The minitron approach
Sharath Turuvekere Sreenivas, Saurav Muralidharan, Raviraj Joshi, Marcin Chochowski, Ameya Sunil Mahabaleshwarkar, Gerald Shen, Jiaqi Zeng, Zijia Chen, Yoshi Suhara, Shizhe Diao, et al · 2024
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Autoregressive model beats diffusion: Llama for scalable image generation
Peize Sun, Yi Jiang, Shoufa Chen, Shilong Zhang, Bingyue Peng, Ping Luo, and Zehuan Yuan · 2024
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Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2023
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Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2023
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Transferring foundation models for generalizable robotic manipulation
Jiange Yang, Wenhui Tan, Chuhao Jin, Keling Yao, Bei Liu, Jianlong Fu, Ruihua Song, Gangshan Wu, and Limin Wang · 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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Minivla: A better vla with a smaller footprint
Suneel Belkhale and Dorsa Sadigh · 2024
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Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
Chi-Lam Cheang, Guangzeng Chen, Ya Jing, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Hongtao Wu, Jiafeng Xu, Yichu Yang, et al · 2024
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Anyvlm: Unified vision-language model for any robot morphology
Wei Chen, Yifeng Zhang, Hao Li, Xufeng Wang, and Ming Liu · 2024
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Keypoint action tokens enable in-context imitation learning in robotics
Norman Di Palo and Edward Johns · 2024
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Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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Chatgpt for robotics: Design principles and model abilities
Sai H Vemprala, Rogerio Bonatti, Arthur Bucker, and Ashish Kapoor · 2024
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, et al · 2024
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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, et al · 2024
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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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Moviedreamer: Hierarchical generation for coherent long visual sequence
Canyu Zhao, Mingyu Liu, Wen Wang, Weihua Chen, Fan Wang, Hao Chen, Bo Zhang, and Chunhua Shen · 2024
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3d-vla: A 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
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Exploiting llm quantization
Kazuki Egashira, Mark Vero, Robin Staab, Jingxuan He, and Martin Vechev · 2025
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Fine-tuning vision-language-action models: Optimizing speed and success
Moo Jin Kim, Chelsea Finn, and Percy Liang · 2025
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Quest: Self-supervised skill abstractions for learning continuous control
Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, and Animesh Garg · 2025
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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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