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We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation.
End-to-end training of deep visuomotor policies
Sergey Levine, Chelsea Finn, Trevor Darrell, and Pieter Abbeel · 2016
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Hindsight experience replay
Marcin Andrychowicz, Filip Wolski, Alex Ray, Jonas Schneider, Rachel Fong, Peter Welinder, Bob McGrew, Josh Tobin, OpenAI Pieter Abbeel, and Wojciech Zaremba · 2017
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A distributional perspective on reinforcement learning
Marc G Bellemare, Will Dabney, and Rémi Munos · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Rainbow: Combining improvements in deep reinforcement learning
Matteo Hessel, Joseph Modayil, Hado Van Hasselt, Tom Schaul, Georg Ostrovski, Will Dabney, Dan Horgan, Bilal Piot, Mohammad Azar, and David Silver · 2018
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Scalable deep reinforcement learning for vision-based robotic manipulation
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, et al · 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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Mastering atari with discrete world models
Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi, and Jimmy Ba · 2020
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A minimalist approach to offline reinforcement learning
Scott Fujimoto and Shixiang Shane Gu · 2021
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Contrastive variational reinforcement learning for complex observations
Xiao Ma, Siwei Chen, David Hsu, and Wee Sun Lee · 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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Temporal difference learning for model predictive control
Nicklas Hansen, Xiaolong Wang, and Hao Su · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
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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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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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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
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Bi-manual robot shoe lacing
Haining Luo and Yiannis Demiris · 2023
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Self-improving robots: End-to-end autonomous visuomotor reinforcement learning
Archit Sharma, Ahmed M Ahmed, Rehaan Ahmad, 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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Roboagent: Generalization and efficiency in robot manipulation via semantic augmentations and action chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2024
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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, et al · 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
Cited alongside, same era.
Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, et al · 2025
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A careful examination of large behavior models for multitask dexterous manipulation
Jose Barreiros, Andrew Beaulieu, Aditya Bhat, Rick Cory, Eric Cousineau, Hongkai Dai, Ching-Hsin Fang, Kunimatsu Hashimoto, Muhammad Zubair Irshad, Masha Itkina, et al · 2025
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Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
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Chilam Cheang, Sijin Chen, Zhongren Cui, Yingdong Hu, Liqun Huang, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Xiao Ma, et al · 2025
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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 · 2024
Cited alongside, same era.
Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
Ria Doshi, Homer Walke, Oier Mees, Sudeep Dasari, and Sergey Levine · 2024
Cited alongside, same era.
Stop regressing: Training value functions via classification for scalable deep rl
Jesse Farebrother, Jordi Orbay, Quan Vuong, Adrien Ali Taïga, Yevgen Chebotar, Ted Xiao, Alex Irpan, Sergey Levine, Pablo Samuel Castro, Aleksandra Faust, et al · 2024
Cited alongside, same era.
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
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.
Benchmarking and simulating bimanual robot shoe lacing
Haining Luo and Yiannis Demiris · 2024
Cited alongside, same era.
Serl: A software suite for sample-efficient robotic reinforcement learning
Jianlan Luo, Zheyuan Hu, Charles Xu, You Liang Tan, Jacob Berg, Archit Sharma, Stefan Schaal, Chelsea Finn, Abhishek Gupta, and Sergey Levine · 2024
Cited alongside, same era.
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
Cited alongside, same era.
Kang Chen, Zhihao Liu, Tonghe Zhang, Zhen Guo, Si Xu, Hao Lin, Hongzhi Zang, Quanlu Zhang, Zhaofei Yu, Guoliang Fan, et al · 2025
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What can rl bring to vla generalization? an empirical study
Jijia Liu, Feng Gao, Bingwen Wei, Xinlei Chen, Qingmin Liao, Yi Wu, Chao Yu, and Yu Wang · 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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Tsl: Tracking deformable linear objects for bimanual shoe lacing
Haining Luo and Yiannis Demiris · 2025
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Interface matters: Comparing first and third-person perspective interfaces for bi-manual robot behavioural cloning
Haining Luo, Rodrigo Chacón Quesada, Fernando Estévez Casado, Nico Lingg, and Yiannis Demiris · 2025
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Flow-based policy for online reinforcement learning
Lei Lv, Yunfei Li, Yu Luo, Fuchun Sun, Tao Kong, Jiafeng Xu, and Xiao Ma · 2025
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Fast: Efficient action tokenization for vision-language-action models
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Spatialvla: Exploring spatial representations for visual-language-action model
Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, et al · 2025
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Smolvla: A vision-language-action model for affordable and efficient robotics
Mustafa Shukor, Dana Aubakirova, Francesco Capuano, Pepijn Kooijmans, Steven Palma, Adil Zouitine, Michel Aractingi, Caroline Pascal, Martino Russi, Andres Marafioti, et al · 2025
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Gemini robotics: Bringing ai into the physical world
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, et al · 2025
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Bytewrist: A parallel robotic wrist enabling flexible and anthropomorphic motion for confined spaces
Jiawen Tian, Liqun Huang, Zhongren Cui, Jingchao Qiao, Jiafeng Xu, Xiao Ma, and Zeyu Ren · 2025
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Steering your diffusion policy with latent space reinforcement learning
Andrew Wagenmaker, Mitsuhiko Nakamoto, Yunchu Zhang, Seohong Park, Waleed Yagoub, Anusha Nagabandi, Abhishek Gupta, and Sergey Levine · 2025
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Robotic policy learning via human-assisted action preference optimization
Wenke Xia, Yichu Yang, Hongtao Wu, Xiao Ma, Tao Kong, and Di Hu · 2025
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Self-improving vision-language-action models with data generation via residual rl
Wenli Xiao, Haotian Lin, Andy Peng, Haoru Xue, Tairan He, Yuqi Xie, Fengyuan Hu, Jimmy Wu, Zhengyi Luo, Linxi Fan, et al · 2025
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Wmpo: World model-based policy optimization for vision-language-action models
Fangqi Zhu, Zhengyang Yan, Zicong Hong, Quanxin Shou, Xiao Ma, and Song Guo · 2025
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