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We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting.
A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Dogs’ social referencing towards owners and strangers
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A method for stochastic optimization
Kingma DP Ba J Adam et al · 2014
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Generalized task-parameterized skill learning
Yanlong Huang, Joao Silvério, Leonel Rozo, and Darwin G Caldwell · 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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Assisting operators in heavy industrial tasks: On the design of an optimized cooperative impedance fuzzy-controller with embedded safety rules
Loris Roveda, Shaghayegh Haghshenas, Marco Caimmi, Nicola Pedrocchi, and Lorenzo Molinari Tosatti · 2019
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Human-robot collaboration by intention recognition using deep lstm neural network
Liang Yan, Xiaoshan Gao, Xiongjie Zhang, and Suokui Chang · 2019
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Imitating by generating: Deep generative models for imitation of interactive tasks
Judith Bütepage, Ali Ghadirzadeh, Özge Öztimur Karadaǧ, Mårten Björkman, and Danica Kragic · 2020
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Recurrent neural network for motion trajectory prediction in human-robot collaborative assembly
Jianjing Zhang, Hongyi Liu, Qing Chang, Lihui Wang, and Robert X Gao · 2020
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A survey of inverse reinforcement learning: Challenges, methods and progress
Saurabh Arora and Prashant Doshi · 2021
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A neural integrator model for planning and value-based decision making of a robotics assistant
Weronika Wojtak, Flora Ferreira, Paulo Vicente, Luís Louro, Estela Bicho, and Wolfram Erlhagen · 2021
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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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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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Rohan Anil, Andrew M Dai, Orhan Firat, Melvin Johnson, Dmitry Lepikhin, Alexandre Passos, Siamak Shakeri, Emanuel Taropa, Paige Bailey, Zhifeng Chen, 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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Foundation models assist in human–robot collaboration assembly
Yuchen Ji, Zequn Zhang, Dunbing Tang, Yi Zheng, Changchun Liu, Zhen Zhao, and Xinghui Li · 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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Improved baselines with visual instruction tuning
Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee · 2024
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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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Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, et al · 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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Text2motion: From natural language instructions to feasible plans
Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, and Jeannette Bohg · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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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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Lami: Large language models for multi-modal human-robot interaction
Chao Wang, Stephan Hasler, Daniel Tanneberg, Felix Ocker, Frank Joublin, Antonello Ceravola, Joerg Deigmoeller, and Michael Gienger · 2024
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A survey of imitation learning: Algorithms, recent developments, and challenges
Maryam Zare, Parham M Kebria, Abbas Khosravi, and Saeid Nahavandi · 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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Mediapipe
Google AI Edge · 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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