2024
π<sub>0</sub>: A Vision-Language-Action Flow Model for General Robot Control.
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CoRR, 2024
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches.
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CoRR, 2024
AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agents.
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CoRR, 2024
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
RoboVQA: Multimodal Long-Horizon Reasoning for Robotics.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2024
SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2024
PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs.
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Proceedings of the Forty-first International Conference on Machine Learning, 2024
Chain of Code: Reasoning with a Language Model-Augmented Code Emulator.
Proceedings of the Forty-first International Conference on Machine Learning, 2024
RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches.
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Proceedings of the Twelfth International Conference on Learning Representations, 2024
2023
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
CoRR, 2023
Foundation Models in Robotics: Applications, Challenges, and the Future.
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CoRR, 2023
Foundations for Transfer in Reinforcement Learning: A Taxonomy of Knowledge Modalities.
CoRR, 2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators.
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CoRR, 2023
Open-World Object Manipulation using Pre-trained Vision-Language Models.
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CoRR, 2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control.
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CoRR, 2023
Scaling Robot Learning with Semantically Imagined Experience.
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Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators.
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Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
RT-1: Robotics Transformer for Real-World Control at Scale.
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Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents.
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Proceedings of the Advances in Neural Information Processing Systems 36: Annual Conference on Neural Information Processing Systems 2023, 2023
Code as Policies: Language Model Programs for Embodied Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Jump-Start Reinforcement Learning.
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Proceedings of the International Conference on Machine Learning, 2023
PaLM-E: An Embodied Multimodal Language Model.
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Proceedings of the International Conference on Machine Learning, 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control.
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Proceedings of the Conference on Robot Learning, 2023
Open-World Object Manipulation using Pre-Trained Vision-Language Models.
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Proceedings of the Conference on Robot Learning, 2023
Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions.
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Proceedings of the Conference on Robot Learning, 2023
2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances.
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CoRR, 2022
How to Leverage Unlabeled Data in Offline Reinforcement Learning.
Proceedings of the International Conference on Machine Learning, 2022
Autonomous Reinforcement Learning: Formalism and Benchmarking.
Proceedings of the Tenth International Conference on Learning Representations, 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances.
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Proceedings of the Conference on Robot Learning, 2022
Inner Monologue: Embodied Reasoning through Planning with Language Models.
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Proceedings of the Conference on Robot Learning, 2022
Offline Reinforcement Learning at Multiple Frequencies.
Proceedings of the Conference on Robot Learning, 2022
2021
A Metric Space Perspective on Self-Supervised Policy Adaptation.
IEEE Robotics Autom. Lett., 2021
AW-Opt: Learning Robotic Skills with Imitation and Reinforcement at Scale.
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CoRR, 2021
Persistent Reinforcement Learning via Subgoal Curricula.
CoRR, 2021
MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale.
CoRR, 2021
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills.
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CoRR, 2021
Conservative Data Sharing for Multi-Task Offline Reinforcement Learning.
Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021
Autonomous Reinforcement Learning via Subgoal Curricula.
Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills.
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Proceedings of the 38th International Conference on Machine Learning, 2021
AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale.
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Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021
Scaling Up Multi-Task Robotic Reinforcement Learning.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021
2020
Scaling simulation-to-real transfer by learning a latent space of robot skills.
Int. J. Robotics Res., 2020
A Geometric Perspective on Self-Supervised Policy Adaptation.
CoRR, 2020
Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation.
CoRR, 2020
Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning.
Proceedings of the Robotics: Science and Systems XVI, 2020
Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping.
Proceedings of the Robotics: Science and Systems XVI, 2020
Gradient Surgery for Multi-Task Learning.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020
Thinking While Moving: Deep Reinforcement Learning with Concurrent Control.
Proceedings of the 8th International Conference on Learning Representations, 2020
Dynamics-Aware Unsupervised Discovery of Skills.
Proceedings of the 8th International Conference on Learning Representations, 2020
Modeling Long-horizon Tasks as Sequential Interaction Landscapes.
Proceedings of the 4th Conference on Robot Learning, 2020
Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning.
Proceedings of the 4th Conference on Robot Learning, 2020
Learning to Interactively Learn and Assist.
Proceedings of the Thirty-Fourth AAAI Conference on Artificial Intelligence, 2020
2019
Confidence-rich grid mapping.
Int. J. Robotics Res., 2019
Training an Interactive Helper.
CoRR, 2019
Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019
2018
Simultaneous self-calibration and navigation using trajectory optimization.
Int. J. Robotics Res., 2018
Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations.
CoRR, 2018
Region Growing Curriculum Generation for Reinforcement Learning.
CoRR, 2018
Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018
Learning an Embedding Space for Transferable Robot Skills.
Proceedings of the 6th International Conference on Learning Representations, 2018
2017
Interactive Perception: Leveraging Action in Perception and Perception in Action.
IEEE Trans. Robotics, 2017
Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs.
IEEE Robotics Autom. Lett., 2017
Trajectory Optimization for Self-Calibration and Navigation.
Proceedings of the Robotics: Science and Systems XIII, 2017
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets.
Proceedings of the Advances in Neural Information Processing Systems 30: Annual Conference on Neural Information Processing Systems 2017, 2017
Planning high-speed safe trajectories in confidence-rich maps.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning.
Proceedings of the 34th International Conference on Machine Learning, 2017
Regrasping Using Tactile Perception and Supervised Policy Learning.
Proceedings of the 2017 AAAI Spring Symposia, 2017
2016
Generalizing Regrasping with Supervised Policy Learning.
Proceedings of the International Symposium on Experimental Robotics, 2016
Occlusion-aware multi-robot 3D tracking.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Self-supervised regrasping using spatio-temporal tactile features and reinforcement learning.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Self-calibrating multi-sensor fusion with probabilistic measurement validation for seamless sensor switching on a UAV.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
2015
Cooperative multi-robot control for target tracking with onboard sensing.
Int. J. Robotics Res., 2015
Active articulation model estimation through interactive perception.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015
2014
Cooperative Control for Target Tracking with Onboard Sensing.
Proceedings of the Experimental Robotics, 2014
2013
Tracking-based interactive segmentation of textureless objects.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013