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Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks.
The ycb object and model set: Towards common benchmarks for manipulation research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2015
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor
Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, and Sergey Levine · 2018
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Robotic grasping using deep reinforcement learning
Shirin Joshi, Sulabh Kumra, and Ferat Sahin · 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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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, et al · 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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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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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, et al · 2021
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Do as i can, not as i say: Grounding language in robotic affordances
Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, et al · 2022
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Error-aware imitation learning from teleoperation data for mobile manipulation
Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, and Roberto Martín-Martín · 2022
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, Weizhu Chen, et al · 2022
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Homerobot: Open-vocabulary mobile manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander Clegg, John M Turner, et al · 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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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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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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Spatial-language attention policies for efficient robot learning
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, and Chris Paxton · 2023
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Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, and Cewu Lu · 2023
Cited alongside, same era.
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
Cited alongside, same era.
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
Cited alongside, same era.
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.
Adaptive mobile manipulation for articulated objects in the open world
Haoyu Xiong, Russell Mendonca, Kenneth Shaw, and Deepak Pathak · 2024
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Harmonic mobile manipulation
Ruihan Yang, Yejin Kim, Rose Hendrix, Aniruddha Kembhavi, Xiaolong Wang, and Kiana Ehsani · 2024
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Spin: Simultaneous perception, interaction and navigation
Shagun Uppal, Ananye Agarwal, Haoyu Xiong, Kenneth Shaw, and Deepak Pathak · 2024
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Openvla: An open-source vision-language-action model
Moo Jsn Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 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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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
Cited alongside, same era.
Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
Cited alongside, same era.
Wildlma: Long horizon loco-manipulation in the wild
Ri-Zhao Qiu, Yuchen Song, Xuanbin Peng, Sai Aneesh Suryadevara, Ge Yang, Minghuan Liu, Mazeyu Ji, Chengzhe Jia, Ruihan Yang, Xueyan Zou, et al · 2024
Cited alongside, same era.
Weixin Mao, Weiheng Zhong, Zhou Jiang, Dong Fang, Zhongyue Zhang, Zihan Lan, Fan Jia, Tiancai Wang, Haoqiang Fan, and Osamu Yoshie · 2024
Cited alongside, same era.
Ok-robot: What really matters in integrating open-knowledge models for robotics
Peiqi Liu, Yaswanth Orru, Jay Vakil, Chris Paxton, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
Cited alongside, same era.
Mobile aloha: Learning bimanual mobile manipulation using low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
Cited alongside, same era.
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
Cited alongside, same era.
Maniskill-hab: A benchmark for low-level manipulation in home rearrangement tasks
Arth Shukla, Stone Tao, and Hao Su · 2024
Cited alongside, same era.
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Robomamba: Multimodal state space model for efficient robot reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Lily Lee, Kaichen Zhou, Pengju An, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 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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Manipvqa: Injecting robotic affordance and physically grounded information into multi-modal large language models
Siyuan Huang, Iaroslav Ponomarenko, Zhengkai Jiang, Xiaoqi Li, Xiaobin Hu, Peng Gao, Hongsheng Li, and Hao Dong · 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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Octo: An open-source generalist robot policy
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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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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Diffusion-vla: Scaling robot foundation models via unified diffusion and autoregression
Junjie Wen, Minjie Zhu, Yichen Zhu, Zhibin Tang, Jinming Li, Zhongyi Zhou, Chengmeng Li, Xiaoyu Liu, Yaxin Peng, Chaomin Shen, et al · 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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Robotwin: Dual-arm robot benchmark with generative digital twins (early version)
Yao Mu, Tianxing Chen, Shijia Peng, Zanxin Chen, Zeyu Gao, Yude Zou, Lunkai Lin, Zhiqiang Xie, and Ping Luo · 2024
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M 2 diffuser: Diffusion-based trajectory optimization for mobile manipulation in 3d scenes
Sixu Yan, Zeyu Zhang, Muzhi Han, Zaijin Wang, Qi Xie, Zhitian Li, Zhehan Li, Hangxin Liu, Xinggang Wang, and Song-Chun Zhu · 2025
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Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, and Li Fei-Fei · 2025
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Zhibin Tang, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, et al · 2025
Closest in time.