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Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity.
ReferItGame: Referring to objects in photographs of natural scenes
Sahar Kazemzadeh, Vicente Ordonez, Mark Matten, and Tamara Berg · 2014
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Affordance detection of tool parts from geometric features
Austin Myers, Ching L Teo, Cornelia Fermüller, and Yiannis Aloimonos · 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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Posecnn: A convolutional neural network for 6d object pose estimation in cluttered scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, and Dieter Fox · 2017
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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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Objaverse-xl: A universe of 10m+ 3d objects
Matt Deitke, Ruoshi Liu, Matthew Wallingford, Huong Ngo, Oscar Michel, Aditya Kusupati, Alan Fan, Christian Laforte, Vikram Voleti, Samir Yitzhak Gadre, et al · 2023
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Rt-trajectory: Robotic task generalization via hindsight trajectory sketches
Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, et al · 2023
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HANDAL: A dataset of real-world manipulable object categories with pose annotations, affordances, and reconstructions
Andrew Guo, Bowen Wen, Jianhe Yuan, Jonathan Tremblay, Stephen Tyree, Jeffrey Smith, and Stan Birchfield · 2023
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3d-llm: Injecting the 3d world into large language models
Yining Hong, Haoyu Zhen, Peihao Chen, Shuhong Zheng, Yilun Du, Zhenfang Chen, and Chuang Gan · 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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What’s "up" with vision-language models? investigating their struggle with spatial reasoning, 2023
Amita Kamath, Jack Hessel, and Kai-Wei Chang · 2023
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Vl-grasp: a 6-dof interactive grasp policy for language-oriented objects in cluttered indoor scenes
Yuhao Lu, Yixuan Fan, Beixing Deng, Fangfu Liu, Yali Li, and Shengjin Wang · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Jake O’Neill, Abraham Arthurs, Fábio Avila Belbute-Peres, Julian Balaguer, Sarah Bechtle, Gemma Bidoia, Kyle Burden, Erwin Chang, Sheila Chen, Todor Davchev, et al · 2023
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Curobo: Parallelized collision-free robot motion generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, et al · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 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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Track2act: Predicting point tracks from internet videos enables generalizable robot manipulation
Homanga Bharadhwaj, Roozbeh Mottaghi, Abhinav Gupta, and Shubham Tulsiani · 2024
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π 0 \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, 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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Spatialrgpt: Grounded spatial reasoning in vision language model
An-Chieh Cheng, Hongxu Yin, Yang Fu, Qiushan Guo, Ruihan Yang, Jan Kautz, Xiaolong Wang, and Sifei Liu · 2024
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Molmo and pixmo: Open weights and open data for state-of-the-art multimodal models
Matt Deitke, Christopher Clark, Sangho Lee, Rohun Tripathi, Yue Yang, Jae Sung Park, Mohammadreza Salehi, Niklas Muennighoff, Kyle Lo, Luca Soldaini, et al · 2024
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Mengfei Du, Binhao Wu, Zejun Li, Xuanjing Huang, and Zhongyu Wei · 2024
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Blink: Multimodal large language models can see but not perceive
Xingyu Fu, Yushi Hu, Bangzheng Li, Yu Feng, Haoyu Wang, Xudong Lin, Dan Roth, Noah A Smith, Wei-Chiu Ma, and Ranjay Krishna · 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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Swe-bench: Can language models resolve real-world github issues?, 2024
Sft memorizes, rl generalizes: A comparative study of foundation model post-training
Tianzhe Chu, Yuexiang Zhai, Jihan Yang, Shengbang Tong, Saining Xie, Dale Schuurmans, Quoc V Le, Sergey Levine, and Yi Ma · 2025
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Video-r1: Reinforcing video reasoning in mllms
Kaituo Feng, Kaixiong Gong, Bohao Li, Zonghao Guo, Yibing Wang, Tianshuo Peng, Benyou Wang, and Xiangyu Yue · 2025
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Deepseek-r1: Incentivizing reasoning capability in llms via reinforcement learning
Daya Guo, Dejian Yang, Haowei Zhang, Junxiao Song, Ruoyu Zhang, Runxin Xu, Qihao Zhu, Shirong Ma, Peiyi Wang, Xiao Bi, et al · 2025
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Thinkact: Vision-language-action reasoning via reinforced visual latent planning
Chi-Pin Huang, Yueh-Hua Wu, Min-Hung Chen, Yu-Chiang Frank Wang, and Fu-En Yang · 2025
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Carlos E. Jimenez, John Yang, Alexander Wettig, Shunyu Yao, Kexin Pei, Ofir Press, and Karthik Narasimhan · 2024
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Cotracker3: Simpler and better point tracking by pseudo-labelling real videos
Nikita Karaev, Iurii Makarov, Jianyuan Wang, Natalia Neverova, Andrea Vedaldi, and Christian Rupprecht · 2024
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Openvla: An open-source vision-language-action model
Moo Jin 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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Data scaling laws in imitation learning for robotic manipulation
Fanqi Lin, Yingdong Hu, Pingyue Sheng, Chuan Wen, Jiacheng You, and Yang Gao · 2024
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Peria: Perceive, reason, imagine, act via holistic language and vision planning for manipulation
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Yifu Yuan, Zibin Dong, Jinyi Liu, MingZhi Li, Yuzheng Zhuang, and Yan Zheng · 2024
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OpenAI, :, Aaron Jaech, Adam Kalai, Adam Lerer, Adam Richardson, Ahmed El-Kishky, Aiden Low, Alec Helyar, Aleksander Madry, Alex Beutel, Alex Carney, Alex Iftimie, Alex Karpenko, Alex Tachard Passos, Alexander Neitz, Alexander Prokofiev, Alexander Wei, Allison Tam, Ally Bennett, Ananya Kumar, Andre Saraiva, Andrea Vallone, Andrew Duberstein, Andrew Kondrich, Andrey Mishchenko, Andy Applebaum, Angela Jiang, Ashvin Nair, Barret Zoph, Behrooz Ghorbani, Ben Rossen, Benjamin Sokolowsky, Boaz Barak, Bob McGrew, Borys Minaiev, Botao Hao, Bowen Baker, Brandon Houghton, Brandon McKinzie, Brydon Eastman, Camillo Lugaresi, Cary Bassin, Cary Hudson, Chak Ming Li, Charles de Bourcy, Chelsea Voss, Chen Shen, Chong Zhang, Chris Koch, Chris Orsinger, Christopher Hesse, Claudia Fischer, Clive Chan, Dan Roberts, Daniel Kappler, Daniel Levy, Daniel Selsam, David Dohan, David Farhi, David Mely, David Robinson, Dimitris Tsipras, Doug Li, Dragos Oprica, Eben Freeman, Eddie Zhang, Edmund Wong, Elizabeth Proehl, Enoch Cheung, Eric Mitchell, Eric Wallace, Erik Ritter, Evan Mays, Fan Wang, Felipe Petroski Such, Filippo Raso, Florencia Leoni, Foivos Tsimpourlas, Francis Song, Fred von Lohmann, Freddie Sulit, Geoff Salmon, Giambattista Parascandolo, Gildas Chabot, Grace Zhao, Greg Brockman, Guillaume Leclerc, Hadi Salman, Haiming Bao, Hao Sheng, Hart Andrin, Hessam Bagherinezhad, Hongyu Ren, Hunter Lightman, Hyung Won Chung, Ian Kivlichan, Ian O’Connell, Ian Osband, Ignasi Clavera Gilaberte, Ilge Akkaya, Ilya Kostrikov, Ilya Sutskever, Irina Kofman, Jakub Pachocki, James Lennon, Jason Wei, Jean Harb, Jerry Twore, Jiacheng Feng, Jiahui Yu, Jiayi Weng, Jie Tang, Jieqi Yu, Joaquin Quiñonero Candela, Joe Palermo, Joel Parish, Johannes Heidecke, John Hallman, John Rizzo, Jonathan Gordon, Jonathan Uesato, Jonathan Ward, Joost Huizinga, Julie Wang, Kai Chen, Kai Xiao, Karan Singhal, Karina Nguyen, Karl Cobbe, Katy Shi, Kayla Wood, Kendra Rimbach, Keren Gu-Lemberg, Kevin Liu, Kevin Lu, Kevin Stone, Kevin Yu, Lama Ahmad, Lauren Yang, Leo Liu, Leon Maksin, Leyton Ho, Liam Fedus, Lilian Weng, Linden Li, Lindsay McCallum, Lindsey Held, Lorenz Kuhn, Lukas Kondraciuk, Lukasz Kaiser, Luke Metz, Madelaine Boyd, Maja Trebacz, Manas Joglekar, Mark Chen, Marko Tintor, Mason Meyer, Matt Jones, Matt Kaufer, Max Schwarzer, Meghan Shah, Mehmet Yatbaz, Melody Y. Guan, Mengyuan Xu, Mengyuan Yan, Mia Glaese, Mianna Chen, Michael Lampe, Michael Malek, Michele Wang, Michelle Fradin, Mike McClay, Mikhail Pavlov, Miles Wang, Mingxuan Wang, Mira Murati, Mo Bavarian, Mostafa Rohaninejad, Nat McAleese, Neil Chowdhury, Neil Chowdhury, Nick Ryder, Nikolas Tezak, Noam Brown, Ofir Nachum, Oleg Boiko, Oleg Murk, Olivia Watkins, Patrick Chao, Paul Ashbourne, Pavel Izmailov, Peter Zhokhov, Rachel Dias, Rahul Arora, Randall Lin, Rapha Gontijo Lopes, Raz Gaon, Reah Miyara, Reimar Leike, Renny Hwang, Rhythm Garg, Robin Brown, Roshan James, Rui Shu, Ryan Cheu, Ryan Greene, Saachi Jain, Sam Altman, Sam Toizer, Sam Toyer, Samuel Miserendino, Sandhini Agarwal, Santiago Hernandez, Sasha Baker, Scott McKinney, Scottie Yan, Shengjia Zhao, Shengli Hu, Shibani Santurkar, Shraman Ray Chaudhuri, Shuyuan Zhang, Siyuan Fu, Spencer Papay, Steph Lin, Suchir Balaji, Suvansh Sanjeev, Szymon Sidor, Tal Broda, Aidan Clark, Tao Wang, Taylor Gordon, Ted Sanders, Tejal Patwardhan, Thibault Sottiaux, Thomas Degry, Thomas Dimson, Tianhao Zheng, Timur Garipov, Tom Stasi, Trapit Bansal, Trevor Creech, Troy Peterson, Tyna Eloundou, Valerie Qi, Vineet Kosaraju, Vinnie Monaco, Vitchyr Pong, Vlad Fomenko, Weiyi Zheng, Wenda Zhou, Wes McCabe, Wojciech Zaremba, Yann Dubois, Yinghai Lu, Yining Chen, Young Cha, Yu Bai, Yuchen He, Yuchen Zhang, Yunyun Wang, Zheng Shao, and Zhuohan Li · 2024
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Sat: Spatial aptitude training for multimodal language models
Arijit Ray, Jiafei Duan, Reuben Tan, Dina Bashkirova, Rose Hendrix, Kiana Ehsani, Aniruddha Kembhavi, Bryan A Plummer, Ranjay Krishna, Kuo-Hao Zeng, et al · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks
Tianhe Ren, Shilong Liu, Ailing Zeng, Jing Lin, Kunchang Li, He Cao, Jiayu Chen, Xinyu Huang, Yukang Chen, Feng Yan, et al · 2024
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Yuheng Ji, Huajie Tan, Jiayu Shi, Xiaoshuai Hao, Yuan Zhang, Hengyuan Zhang, Pengwei Wang, Mengdi Zhao, Yao Mu, Pengju An, Xinda Xue, Qinghang Su, Huaihai Lyu, Xiaolong Zheng, Jiaming Liu, Zhongyuan Wang, and Shanghang Zhang · 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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Hamster: Hierarchical action models for open-world robot manipulation
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, et al · 2025
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Vla-rl: Towards masterful and general robotic manipulation with scalable reinforcement learning
Guanxing Lu, Wenkai Guo, Chubin Zhang, Yuheng Zhou, Haonan Jiang, Zifeng Gao, Yansong Tang, and Ziwei Wang · 2025
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Embodied arena: A comprehensive, unified, and evolving evaluation platform for embodied ai
Fei Ni, Min Zhang, Pengyi Li, Yifu Yuan, Lingfeng Zhang, Yuecheng Liu, Peilong Han, Longxin Kou, Shaojin Ma, Jinbin Qiao, et al · 2025
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Deepvideo-r1: Video reinforcement fine-tuning via difficulty-aware regressive grpo
Jinyoung Park, Jeehye Na, Jinyoung Kim, and Hyunwoo J Kim · 2025
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Fast: Efficient action tokenization for vision-language-action models, 2025
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Sofar: Language-grounded orientation bridges spatial reasoning and object manipulation
Zekun Qi, Wenyao Zhang, Yufei Ding, Runpei Dong, Xinqiang Yu, Jingwen Li, Lingyun Xu, Baoyu Li, Xialin He, Guofan Fan, et al · 2025
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Reason-rft: Reinforcement fine-tuning for visual reasoning of vision language models
Huajie Tan, Yuheng Ji, Xiaoshuai Hao, Xiansheng Chen, Pengwei Wang, Zhongyuan Wang, and Shanghang Zhang · 2025
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A0: An affordance-aware hierarchical model for general robotic manipulation
Rongtao Xu, Jian Zhang, Minghao Guo, Youpeng Wen, Haoting Yang, Min Lin, Jianzheng Huang, Zhe Li, Kaidong Zhang, Liqiong Wang, et al · 2025
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Magma: A foundation model for multimodal ai agents
Jianwei Yang, Reuben Tan, Qianhui Wu, Ruijie Zheng, Baolin Peng, Yongyuan Liang, Yu Gu, Mu Cai, Seonghyeon Ye, Joel Jang, et al · 2025
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Dapo: An open-source llm reinforcement learning system at scale
Qiying Yu, Zheng Zhang, Ruofei Zhu, Yufeng Yuan, Xiaochen Zuo, Yu Yue, Tiantian Fan, Gaohong Liu, Lingjun Liu, Xin Liu, et al · 2025
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From seeing to doing: Bridging reasoning and decision for robotic manipulation, 2025
Yifu Yuan, Haiqin Cui, Yibin Chen, Zibin Dong, Fei Ni, Longxin Kou, Jinyi Liu, Pengyi Li, Yan Zheng, and Jianye Hao · 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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Robotracer: Mastering spatial trace with reasoning in vision-language models for robotics
Enshen Zhou, Cheng Chi, Yibo Li, Jingkun An, Jiayuan Zhang, Shanyu Rong, Yi Han, Yuheng Ji, Mengzhen Liu, Pengwei Wang, et al · 2025
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