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Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions.
Counterintuitive behavior of social systems
Jay W Forrester · 1971
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Reverse-time diffusion equation models
Brian DO Anderson · 1982
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Image quality assessment: from error visibility to structural similarity
Zhou Wang, Alan C Bovik, Hamid R Sheikh, and Eero P Simoncelli · 2004
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Estimation of non-normalized statistical models by score matching
Aapo Hyvärinen and Peter Dayan · 2005
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Scope of validity of psnr in image/video quality assessment
Quan Huynh-Thu and Mohammed Ghanbari · 2008
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Deep unsupervised learning using nonequilibrium thermodynamics
Jascha Sohl-Dickstein, Eric Weiss, Niru Maheswaranathan, and Surya Ganguli · 2015
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Recurrent world models facilitate policy evolution
David Ha and Jürgen Schmidhuber · 2018
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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Improving language understanding by generative pre-training
Alec Radford, Karthik Narasimhan, Tim Salimans, Ilya Sutskever, et al · 2018
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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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Dream to control: Learning behaviors by latent imagination
Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 2019
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When to trust your model: Model-based policy optimization
Michael Janner, Justin Fu, Marvin Zhang, and Sergey Levine · 2019
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Root mean square layer normalization
Biao Zhang and Rico Sennrich · 2019
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Mastering atari with discrete world models
Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi, and Jimmy Ba · 2020
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Mastering atari, go, chess and shogi by planning with a learned model
Julian Schrittwieser, Ioannis Antonoglou, Thomas Hubert, Karen Simonyan, Laurent Sifre, Simon Schmitt, Arthur Guez, Edward Lockhart, Demis Hassabis, Thore Graepel, et al · 2020
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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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Synergies between affordance and geometry: 6-dof grasp detection via implicit representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, and Yuke Zhu · 2021
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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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Mastering atari games with limited data
Weirui Ye, Shaohuai Liu, Thanard Kurutach, Pieter Abbeel, and Yang Gao · 2021
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Reinforcement learning with neural radiance fields
Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, and Marc Toussaint · 2022
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Zeyu Gao, Yao Mu, Ruoyan Shen, Chen Chen, Yangang Ren, Jianyu Chen, Shengbo Eben Li, Ping Luo, and Yanfeng Lu · 2022
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Deep hierarchical planning from pixels
Danijar Hafner, Kuang-Huei Lee, Ian Fischer, and Pieter Abbeel · 2022
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Model-based imitation learning for urban driving
Anthony Hu, Gianluca Corrado, Nicolas Griffiths, Zachary Murez, Corina Gurau, Hudson Yeo, Alex Kendall, Roberto Cipolla, and Jamie Shotton · 2022
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Elucidating the design space of diffusion-based generative models
Tero Karras, Miika Aittala, Timo Aila, and Samuli Laine · 2022
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3d neural scene representations for visuomotor control
Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, and Antonio Torralba · 2022
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Real2sim2real: Self-supervised learning of physical single-step dynamic actions for planar robot casting
Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, and Ken Goldberg · 2022
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Mastering visual continuous control: Improved data-augmented reinforcement learning
Denis Yarats, Rob Fergus, Alessandro Lazaric, and Lerrel Pinto · 2022
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pixelsplat: 3d gaussian splats from image pairs for scalable generalizable 3d reconstruction
David Charatan, Sizhe Li, Andrea Tagliasacchi, and Vincent Sitzmann · 2023
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Polarnet: 3d point clouds for language-guided robotic manipulation
Shizhe Chen, Ricardo Garcia, Cordelia Schmid, and Ivan Laptev · 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
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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Single-view 3d scene reconstruction with high-fidelity shape and texture
Yixin Chen, Junfeng Ni, Nan Jiang, Yaowei Zhang, Yixin Zhu, and Siyuan Huang · 2024
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Acdc: Automated creation of digital cousins for robust policy learning
Tianyuan Dai, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, and Li Fei-Fei · 2024
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Rvt-2: Learning precise manipulation from few demonstrations
Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, and Dieter Fox · 2024
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Sc-gs: Sparse-controlled gaussian splatting for editable dynamic scenes
Yi-Hua Huang, Yang-Tian Sun, Ziyi Yang, Xiaoyang Lyu, Yan-Pei Cao, and Xiaojuan Qi · 2024
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Colmap-free 3d gaussian splatting
Yang Fu, Sifei Liu, Amey Kulkarni, Jan Kautz, Alexei A Efros, and Xiaolong Wang · 2023
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Act3d: 3d feature field transformers for multi-task robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 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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Mastering diverse domains through world models
Danijar Hafner, Jurgis Pasukonis, Jimmy Ba, and Timothy Lillicrap · 2023
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Td-mpc2: Scalable, robust world models for continuous control
Nicklas Hansen, Hao Su, and Xiaolong Wang · 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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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Splatam: Splat track & map 3d gaussians for dense rgb-d slam
Nikhil Keetha, Jay Karhade, Krishna Murthy Jatavallabhula, Gengshan Yang, Sebastian Scherer, Deva Ramanan, and Jonathon Luiten · 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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Grounding image matching in 3d with mast3r
Vincent Leroy, Yohann Cabon, and Jérôme Revaud · 2024
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Robo-gs: A physics consistent spatial-temporal model for robotic arm with hybrid representation
Haozhe Lou, Yurong Liu, Yike Pan, Yiran Geng, Jianteng Chen, Wenlong Ma, Chenglong Li, Lin Wang, Hengzhen Feng, Lu Shi, et al · 2024
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Manigaussian: Dynamic gaussian splatting for multi-task robotic manipulation
Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, and Yansong Tang · 2024
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Dynamic 3d gaussians: Tracking by persistent dynamic view synthesis
Jonathon Luiten, Georgios Kopanas, Bastian Leibe, and Deva Ramanan · 2024
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 2024
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Point cloud models improve visual robustness in robotic learners
Skand Peri, Iain Lee, Chanho Kim, Li Fuxin, Tucker Hermans, and Stefan Lee · 2024
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Splatsim: Zero-shot sim2real transfer of rgb manipulation policies using gaussian splatting
Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandun, David Held, George Kantor, and Abhishesh Silwal · 2024
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MuJoCoAR: Phone teleoperation for robots, 2024
Omar Rayyan · 2024
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Splatt3r: Zero-shot gaussian splatting from uncalibarated image pairs
Brandon Smart, Chuanxia Zheng, Iro Laina, and Victor Adrian Prisacariu · 2024
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Roformer: Enhanced transformer with rotary position embedding
Jianlin Su, Murtadha Ahmed, Yu Lu, Shengfeng Pan, Wen Bo, and Yunfeng Liu · 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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Dust3r: Geometric 3d vision made easy
Shuzhe Wang, Vincent Leroy, Yohann Cabon, Boris Chidlovskii, and Jerome Revaud · 2024
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Physgaussian: Physics-integrated 3d gaussians for generative dynamics
Tianyi Xie, Zeshun Zong, Yuxing Qiu, Xuan Li, Yutao Feng, Yin Yang, and Chenfanfu Jiang · 2024
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Gaussiancube: Structuring gaussian splatting using optimal transport for 3d generative modeling
Bowen Zhang, Yiji Cheng, Jiaolong Yang, Chunyu Wang, Feng Zhao, Yansong Tang, Dong Chen, and Baining Guo · 2024
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Drivinggaussian: Composite gaussian splatting for surrounding dynamic autonomous driving scenes
Xiaoyu Zhou, Zhiwei Lin, Xiaojun Shan, Yongtao Wang, Deqing Sun, and Ming-Hsuan Yang · 2024
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Controlvla: Few-shot object-centric adaptation for pre-trained vision-language-action models
Puhao Li, Yingying Wu, Ziheng Xi, Wanlin Li, Yuzhe Huang, Zhiyuan Zhang, Yinghan Chen, Jianan Wang, Song-Chun Zhu, Tengyu Liu, et al · 2025
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Building interactable replicas of complex articulated objects via gaussian splatting
Yu Liu, Baoxiong Jia, Ruijie Lu, Junfeng Ni, Song-Chun Zhu, and Siyuan Huang · 2025
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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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ivideogpt: Interactive videogpts are scalable world models
Jialong Wu, Shaofeng Yin, Ningya Feng, Xu He, Dong Li, Jianye Hao, and Mingsheng Long · 2025
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Point cloud matters: Rethinking the impact of different observation spaces on robot learning
Haoyi Zhu, Yating Wang, Di Huang, Weicai Ye, Wanli Ouyang, and Tong He · 2025
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Gaussianworld: Gaussian world model for streaming 3d occupancy prediction
Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang, Jie Zhou, and Jiwen Lu · 2025
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