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Many robot tasks require attending to the history of past observations.
Asynchronous methods for deep reinforcement learning
Volodymyr Mnih, Adria Puigdomenech Badia, Mehdi Mirza, Alex Graves, Timothy Lillicrap, Tim Harley, David Silver, and Koray Kavukcuoglu · 2016
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Chauffeurnet: Learning to drive by imitating the best and synthesizing the worst
Mayank Bansal, Alex Krizhevsky, and Abhijit Ogale · 2018
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, and Pieter Abbeel · 2018
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Causal confusion in imitation learning
Pim De Haan, Dinesh Jayaraman, and Sergey Levine · 2019
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Learning dexterous in-hand manipulation
OpenAI: Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Jozefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, et al · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Keyframing the future: Keyframe discovery for visual prediction and planning
Karl Pertsch, Oleh Rybkin, Jingyun Yang, Shenghao Zhou, Konstantinos Derpanis, Kostas Daniilidis, Joseph Lim, and Andrew Jaegle · 2020
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Fighting copycat agents in behavioral cloning from observation histories
Chuan Wen, Jierui Lin, Trevor Darrell, Dinesh Jayaraman, and Yang Gao · 2020
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Keyframe-focused visual imitation learning
Chuan Wen, Jierui Lin, Jianing Qian, Yang Gao, and Dinesh Jayaraman · 2021
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Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 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, et al · 2022
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Sequence model imitation learning with unobserved contexts
Gokul Swamy, Sanjiban Choudhury, J Bagnell, and Steven Z Wu · 2022
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Vision-language models as a source of rewards
Kate Baumli, Satinder Baveja, Feryal MP Behbahani, Harris Chan, Gheorghe Comanici, Sebastian Flennerhag, Maxime Gazeau, Kristian Holsheimer, Dan Horgan, Michael Laskin, et al · 2023
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 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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Vision-language models as success detectors
Yuqing Du, Ksenia Konyushkova, Misha Denil, Akhil Raju, Jessica Landon, Felix Hill, Nando de Freitas, and Serkan Cabi · 2023
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Octo: An open-source generalist robot policy
Dibya Ghosh, Homer Rich Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, et al · 2024
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Vision language models are in-context value learners
Yecheng Jason Ma, Joey Hejna, Chuyuan Fu, Dhruv Shah, Jacky Liang, Zhuo Xu, Sean Kirmani, Peng Xu, Danny Driess, Ted Xiao, et al · 2024
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Vlm see, robot do: Human demo video to robot action plan via vision language model
Beichen Wang, Juexiao Zhang, Shuwen Dong, Irving Fang, and Chen Feng · 2024
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Robot fine-tuning made easy: Pre-training rewards and policies for autonomous real-world reinforcement learning
Jingyun Yang, Max Sobol Mark, Brandon Vu, Archit Sharma, Jeannette Bohg, and Chelsea Finn · 2024
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π 0.5 \pi_{0.5} : A vision-language-action model with open-world generalization
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, et al · 2025
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2023
Cited alongside, same era.
Regularized behavior cloning for blocking the leakage of past action information
Seokin Seo, HyeongJoo Hwang, Hongseok Yang, and Kee-Eung Kim · 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.
Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
Cited alongside, same era.
Aloha 2: An enhanced low-cost hardware for bimanual teleoperation
Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, Debidatta Dwibedi, Chelsea Finn, Pete Florence, Spencer Goodrich, et al · 2024
Cited alongside, same era.
Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Ashwin Balakrishna, Nathan Batchelor, Alex Bewley, Jeff Bingham, et al
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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 P Foster, Pannag R Sanketi, Quan Vuong, et al · 2025
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Memer: Scaling up memory for robot control via experience retrieval
Ajay Sridhar, Jennifer Pan, Satvik Sharma, and Chelsea Finn · 2025
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Learning long-context diffusion policies via past-token prediction
Marcel Torne, Andy Tang, Yuejiang Liu, and Chelsea Finn · 2025
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Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2025
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Cosmos policy: Fine-tuning video models for visuomotor control and planning
Moo Jin Kim, Yihuai Gao, Tsung-Yi Lin, Yen-Chen Lin, Yunhao Ge, Grace Lam, Percy Liang, Shuran Song, Ming-Yu Liu, Chelsea Finn, et al · 2026
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