Publications (69)
Model Based Planning with Energy Based Models
Yilun Du, Toru Lin, Igor Mordatch
Reset-Free Lifelong Learning with Skill-Space Planning
Kevin Lu, Aditya Grover, Pieter Abbeel +1
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation
C. Daniel Freeman, Erik Frey, Anton Raichuk +3
Masked Trajectory Models for Prediction, Representation, and Control
Philipp Wu, Arjun Majumdar, Kevin Stone +4
The Neural MMO Platform for Massively Multiagent Research
Joseph Suarez, Yilun Du, Clare Zhu +2
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
Anthony Brohan, Noah Brown, Justice Carbajal +51
Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments
Ryan Lowe, Yi Wu, Aviv Tamar +3
Pre-Trained Language Models for Interactive Decision-Making
Shuang Li, Xavier Puig, Chris Paxton +11
Multi-Agent Reinforcement Learning with Multi-Step Generative Models
Orr Krupnik, Igor Mordatch, Aviv Tamar
Neural MMO: A Massively Multiagent Game Environment for Training and Evaluating Intelligent Agents
Joseph Suarez, Yilun Du, Phillip Isola +1
Beyond Human Data: Scaling Self-Training for Problem-Solving with Language Models
Avi Singh, John D. Co-Reyes, Rishabh Agarwal +38
Interpretable and Pedagogical Examples
Smitha Milli, Pieter Abbeel, Igor Mordatch
Energy-Based Models for Continual Learning
Shuang Li, Yilun Du, Gido M. van de Ven +1
Implicit Offline Reinforcement Learning via Supervised Learning
Alexandre Piche, Rafael Pardinas, David Vazquez +2
Prediction and Control with Temporal Segment Models
Nikhil Mishra, Pieter Abbeel, Igor Mordatch
Training Language Models on the Knowledge Graph: Insights on Hallucinations and Their Detectability
Jiri Hron, Laura Culp, Gamaleldin Elsayed +28
Learning and Controlling Silicon Dopant Transitions in Graphene using Scanning Transmission Electron Microscopy
Max Schwarzer, Jesse Farebrother, Joshua Greaves +8
Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context
Gemini Team, Petko Georgiev, Ving Ian Lei +1132
Scalable Diffusion for Materials Generation
Sherry Yang, KwangHwan Cho, Amil Merchant +4
VeLO: Training Versatile Learned Optimizers by Scaling Up
Luke Metz, James Harrison, C. Daniel Freeman +8
Bi-Manual Manipulation and Attachment via Sim-to-Real Reinforcement Learning
Satoshi Kataoka, Seyed Kamyar Seyed Ghasemipour, Daniel Freeman +1
Adaptive Online Planning for Continual Lifelong Learning
Kevin Lu, Igor Mordatch, Pieter Abbeel
PaLM-E: An Embodied Multimodal Language Model
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi +19
Pretrained Transformers as Universal Computation Engines
Kevin Lu, Aditya Grover, Pieter Abbeel +1
RT-1: Robotics Transformer for Real-World Control at Scale
Anthony Brohan, Noah Brown, Justice Carbajal +48
Concept Learning with Energy-Based Models
Igor Mordatch
Emergence of Grounded Compositional Language in Multi-Agent Populations
Igor Mordatch, Pieter Abbeel
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Scalable Evaluation of Multi-Agent Reinforcement Learning with Melting Pot
Joel Z. Leibo, Edgar Duéñez-Guzmán, Alexander Sasha Vezhnevets +7
A Paradigm for Situated and Goal-Driven Language Learning
Jon Gauthier, Igor Mordatch
Inner Monologue: Embodied Reasoning through Planning with Language Models
Wenlong Huang, Fei Xia, Ted Xiao +14
Self-Improving Embodied Foundation Models
Seyed Kamyar Seyed Ghasemipour, Ayzaan Wahid, Jonathan Tompson +2
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control
Kendall Lowrey, Aravind Rajeswaran, Sham Kakade +2
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Wenlong Huang, Igor Mordatch, Pieter Abbeel +1
Composing Ensembles of Pre-trained Models via Iterative Consensus
Shuang Li, Yilun Du, Joshua B. Tenenbaum +2
Model-Based Reinforcement Learning via Latent-Space Collocation
Oleh Rybkin, Chuning Zhu, Anusha Nagabandi +3
A Game Theoretic Framework for Model Based Reinforcement Learning
Aravind Rajeswaran, Igor Mordatch, Vikash Kumar
Neural MMO v1.3: A Massively Multiagent Game Environment for Training and Evaluating Neural Networks
Joseph Suarez, Yilun Du, Igor Mordatch +1
Generative Hierarchical Materials Search
Sherry Yang, Simon Batzner, Ruiqi Gao +7
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
Semi-Supervised One-Shot Imitation Learning
Philipp Wu, Kourosh Hakhamaneshi, Yuqing Du +3
Improved Contrastive Divergence Training of Energy Based Models
Yilun Du, Shuang Li, Joshua Tenenbaum +1
Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning
Seyed Kamyar Seyed Ghasemipour, Daniel Freeman, Byron David +3
Multiagent Finetuning: Self Improvement with Diverse Reasoning Chains
Vighnesh Subramaniam, Yilun Du, Joshua B. Tenenbaum +3
Frontier Language Models are not Robust to Adversarial Arithmetic, or "What do I need to say so you agree 2+2=5?
C. Daniel Freeman, Laura Culp, Aaron Parisi +27
Improving Factuality and Reasoning in Language Models through Multiagent Debate
Yilun Du, Shuang Li, Antonio Torralba +2
Multi-Game Decision Transformers
Kuang-Huei Lee, Ofir Nachum, Mengjiao Yang +8
One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control
Wenlong Huang, Igor Mordatch, Deepak Pathak
Learning with Opponent-Learning Awareness
Jakob N. Foerster, Richard Y. Chen, Maruan Al-Shedivat +3
Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model
Paul Christiano, Zain Shah, Igor Mordatch +5
Continuous Adaptation via Meta-Learning in Nonstationary and Competitive Environments
Maruan Al-Shedivat, Trapit Bansal, Yuri Burda +3
Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities
Gheorghe Comanici, Eric Bieber, Mike Schaekermann +3431
Bi-Manual Block Assembly via Sim-to-Real Reinforcement Learning
Satoshi Kataoka, Youngseog Chung, Seyed Kamyar Seyed Ghasemipour +3
Towards Better Few-Shot and Finetuning Performance with Forgetful Causal Language Models
Hao Liu, Xinyang Geng, Lisa Lee +4
Decision Transformer: Reinforcement Learning via Sequence Modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran +6
Variance Reduction for Policy Gradient with Action-Dependent Factorized Baselines
Cathy Wu, Aravind Rajeswaran, Yan Duan +5
Emergent Complexity via Multi-Agent Competition
Trapit Bansal, Jakub Pachocki, Szymon Sidor +2
Generative Temporal Difference Learning for Infinite-Horizon Prediction
Michael Janner, Igor Mordatch, Sergey Levine
Implicit Generation and Generalization in Energy-Based Models
Yilun Du, Igor Mordatch
Melting Pot 2.0
John P. Agapiou, Alexander Sasha Vezhnevets, Edgar A. Duéñez-Guzmán +14
Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents
Wenlong Huang, Fei Xia, Dhruv Shah +8
TokenSwap: Benchmarking and Reducing the Modality Gap in Multimodal LLMs
Andong Hua, Colton Bishop, Igor Mordatch +5
Learning Iterative Reasoning through Energy Minimization
Yilun Du, Shuang Li, Joshua B. Tenenbaum +1
Rearrangement: A Challenge for Embodied AI
Dhruv Batra, Angel X. Chang, Sonia Chernova +9
Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents
Wenlong Huang, Pieter Abbeel, Deepak Pathak +1
Compositional Visual Generation and Inference with Energy Based Models
Yilun Du, Shuang Li, Igor Mordatch
Multi-Environment Pretraining Enables Transfer to Action Limited Datasets
David Venuto, Sherry Yang, Pieter Abbeel +3
Emergent Tool Use From Multi-Agent Autocurricula
Bowen Baker, Ingmar Kanitscheider, Todor Markov +4
Unsupervised Learning of Compositional Energy Concepts
Yilun Du, Shuang Li, Yash Sharma +2