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, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alexander Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich, preprint. [website]

PaLM-E: An Embodied Multimodal Language Model

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence, preprint. [website]

Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models

Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson

Interactive Language: Talking to Robots in Real Time

Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, Pete Florence, preprint. [website][code]

Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations

Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi, ICRA 2023.

Implicit Behavioral Cloning

Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson, CoRL 2021. [website][code]

Learning Object-conditioned Exploration using Distributed Soft Actor Critic

Ayzaan Wahid, Austin Stone, Kevin Chen, Brian Ichter, Alexander Toshev, CoRL 2020.

Transporter Networks: Rearranging the Visual World for Robotic Manipulation

Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Ayzaan Wahid, Vikas Sindhwani, Johnny Lee, CoRL 2020. [website] [code]

Long Range Neural Navigation Policies for the Real World

Ayzaan Wahid, Alexander Toshev, Marek Fiser, Tsang-Wei Edward Lee, IROS 2019.

Visual Representations for Semantic Target Driven Navigation

Arsalan Mousavian, Alexander Toshev, Marek Fiser, Jana Kosecka, Ayzaan Wahid, James Davidson, ICRA 2019.