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The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data.
Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Towards accurate generative models of video: A new metric & challenges
Thomas Unterthiner, Sjoerd Van Steenkiste, Karol Kurach, Raphael Marinier, Marcin Michalski, and Sylvain Gelly · 2018
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The unreasonable effectiveness of deep features as a perceptual metric
Richard Zhang, Phillip Isola, Alexei A Efros, Eli Shechtman, and Oliver Wang · 2018
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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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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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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
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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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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, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Auto-encoding variational bayes, 2022
Diederik P Kingma and Max Welling · 2022
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Training a helpful and harmless assistant with reinforcement learning from human feedback
Yuntao Bai, Andy Jones, Kamal Ndousse, Amanda Askell, Anna Chen, Nova DasSarma, Dawn Drain, Stanislav Fort, Deep Ganguli, Tom Henighan, et al · 2022
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Stable video diffusion: Scaling latent video diffusion models to large datasets
Andreas Blattmann, Tim Dockhorn, Sumith Kulal, Daniel Mendelevitch, Maciej Kilian, Dominik Lorenz, Yam Levi, Zion English, Vikram Voleti, Adam Letts, et al · 2023
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Motion planning diffusion: Learning and planning of robot motions with diffusion models
Joao Carvalho, An T Le, Mark Baierl, Dorothea Koert, and Jan Peters · 2023
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Direct preference optimization: Your language model is secretly a reward model
Rafael Rafailov, Archit Sharma, Eric Mitchell, Christopher D Manning, Stefano Ermon, and Chelsea Finn · 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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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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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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Bridgedata v2: A dataset for robot learning at scale
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
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Drivedreamer: Towards real-world-driven world models for autonomous driving
Xiaofeng Wang, Zheng Zhu, Guan Huang, Xinze Chen, Jiagang Zhu, and Jiwen Lu · 2023
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Gaia-1: A generative world model for autonomous driving
Anthony Hu, Lloyd Russell, Hudson Yeo, Zak Murez, George Fedoseev, Alex Kendall, Jamie Shotton, and Gianluca Corrado · 2023
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Learning to act from actionless videos through dense correspondences, 2023
Po-Chen Ko, Jiayuan Mao, Yilun Du, Shao-Hua Sun, and Joshua B. Tenenbaum · 2023
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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 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
Cited alongside, same era.
Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
Cited alongside, same era.
Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
Cited alongside, same era.
Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, and Ted Xiao · 2024
Cited alongside, same era.
Splatsim: Zero-shot sim2real transfer of rgb manipulation policies using gaussian splatting, 2024
Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandun, David Held, George Kantor, and Abhishesh Silwal · 2024
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Sam 2: Segment anything in images and videos, 2024
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, Eric Mintun, Junting Pan, Kalyan Vasudev Alwala, Nicolas Carion, Chao-Yuan Wu, Ross Girshick, Piotr Dollár, and Christoph Feichtenhofer · 2024
Later among the works it cites.
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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Roboverse: Towards a unified platform, dataset and benchmark for scalable and generalizable robot learning, April 2025
Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Charlie Tianyue Cheng, Haozhe Lou, Peihao Li, Yen-Jen Wang, Yutong Liang, Dylan Goetting, Chaoyi Xu, Haozhe Chen, Yuxi Qian, Yiran Geng, Jiageng Mao, Weikang Wan, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Carlo Sferrazza, Hao Dong, Siyuan Huang, Yue Wang, Jitendra Malik, and Pieter Abbeel · 2025
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Genesis: A universal and generative physics engine for robotics and beyond, December 2024
Genesis Authors · 2024
Cited alongside, same era.
Vlabench: A large-scale benchmark for language-conditioned robotics manipulation with long-horizon reasoning tasks, 2024
Shiduo Zhang, Zhe Xu, Peiju Liu, Xiaopeng Yu, Yuan Li, Qinghui Gao, Zhaoye Fei, Zhangyue Yin, Zuxuan Wu, Yu-Gang Jiang, and Xipeng Qiu · 2024
Cited alongside, same era.
Irasim: Learning interactive real-robot action simulators
Fangqi Zhu, Hongtao Wu, Song Guo, Yuxiao Liu, Chilam Cheang, and Tao Kong · 2024
Cited alongside, same era.
A survey of imitation learning: Algorithms, recent developments, and challenges
Maryam Zare, Parham M Kebria, Abbas Khosravi, and Saeid Nahavandi · 2024
Cited alongside, same era.
π \pi 0: 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, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, and Ury Zhilinsky · 2024
Cited alongside, same era.
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
Cited alongside, same era.
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
Cited alongside, same era.
Grape: Generalizing robot policy via preference alignment, 2024
Zijian Zhang, Kaiyuan Zheng, Zhaorun Chen, Joel Jang, Yi Li, Chaoqi Wang, Mingyu Ding, Dieter Fox, and Huaxiu Yao · 2024
Cited alongside, same era.
Robotwin: Dual-arm robot benchmark with generative digital twins
Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, et al · 2025
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Humandreamer: Generating controllable human-motion videos via decoupled generation
Boyuan Wang, Xiaofeng Wang, Chaojun Ni, Guosheng Zhao, Zhiqin Yang, Zheng Zhu, Muyang Zhang, Yukun Zhou, Xinze Chen, Guan Huang, Lihong Liu, and Xingang Wang · 2025
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Humandreamer-x: Photorealistic single-image human avatars reconstruction via gaussian restoration
Boyuan Wang, Runqi Ouyang, Xiaofeng Wang, Zheng Zhu, Guosheng Zhao, Chaojun Ni, Guan Huang, Lihong Liu, and Xingang Wang · 2025
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Rebot: Scaling robot learning with real-to-sim-to-real robotic video synthesis, 2025
Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, and Mingyu Ding · 2025
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Chengbo Yuan, Suraj Joshi, Shaoting Zhu, Hang Su, Hang Zhao, and Yang Gao · 2025
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Dexterous hand manipulation via efficient imitation-bootstrapped online reinforcement learning
Dongchi Huang, Tianle Zhang, Yihang Li, Ling Zhao, Jiayi Li, Zhirui Fang, Chunhe Xia, Lusong Li, and Xiaodong He · 2025
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Deep reinforcement learning for robotics: A survey of real-world successes
Chen Tang, Ben Abbatematteo, Jiaheng Hu, Rohan Chandra, Roberto Martín-Martín, and Peter Stone · 2025
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Sim-to-real reinforcement learning for vision-based dexterous manipulation on humanoids
Toru Lin, Kartik Sachdev, Linxi Fan, Jitendra Malik, and Yuke Zhu · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization, 2025
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, and Ury Zhilinsky · 2025
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Reactive diffusion policy: Slow-fast visual-tactile policy learning for contact-rich manipulation
Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Yuan Fang, Guoying Gu, Huazhe Xu, and Cewu Lu · 2025
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Dexgraspvla: A vision-language-action framework towards general dexterous grasping
Yifan Zhong, Xuchuan Huang, Ruochong Li, Ceyao Zhang, Yitao Liang, Yaodong Yang, and Yuanpei Chen · 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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Manipdreamer: Boosting robotic manipulation world model with action tree and visual guidance, 2025
Ying Li, Xiaobao Wei, Xiaowei Chi, Yuming Li, Zhongyu Zhao, Hao Wang, Ningning Ma, Ming Lu, and Shanghang Zhang · 2025
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Robotransfer: Geometry-consistent video diffusion for robotic visual policy transfer, 2025
Liu Liu, Xiaofeng Wang, Guosheng Zhao, Keyu Li, Wenkang Qin, Jiaxiong Qiu, Zheng Zhu, Guan Huang, and Zhizhong Su · 2025
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Recondreamer++: Harmonizing generative and reconstructive models for driving scene representation
Guosheng Zhao, Xiaofeng Wang, Chaojun Ni, Zheng Zhu, Wenkang Qin, Guan Huang, and Xingang Wang · 2025
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Wonderturbo: Generating interactive 3d world in 0.72 seconds
Chaojun Ni, Xiaofeng Wang, Zheng Zhu, Weijie Wang, Haoyun Li, Guosheng Zhao, Jie Li, Wenkang Qin, Guan Huang, and Wenjun Mei · 2025
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Zelin Zhou, Saurav Uprety, Shichuang Nie, and Hongzhou Yang · 2025
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Foundation model-guided gaussian splatting for 4d reconstruction of deformable tissues
Yifan Liu, Chenxin Li, Hengyu Liu, Chen Yang, and Yixuan Yuan · 2025
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