273 citations · 426 across the 13 of their papers we have counts for
14 papers
Vesta: A Generalist Embodied Reasoning Model
Johan Bjorck, Zhiqi Li, Yunze Man +29
Robots operating in open-world environments must seamlessly integrate localization, spatial reasoning, navigation, and long-horizon planning. While specialist models excel at indiv…
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan +169
General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the G…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Gemini Robotics: Bringing AI into the Physical World
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie +115
Recent advancements in large multimodal models have led to the emergence of remarkable generalist capabilities in digital domains, yet their translation to physical agents such as…
Learning the RoPEs: Better 2D and 3D Position Encodings with STRING
Connor Schenck, Isaac Reid, Mithun George Jacob +19
We introduce STRING: Separable Translationally Invariant Position Encodings. STRING extends Rotary Position Encodings, a recently proposed and widely used algorithm in large langua…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation
Soroush Nasiriany, Sean Kirmani, Tianli Ding +5
We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as langua…
RT-H: Action Hierarchies Using Language
Suneel Belkhale, Tianli Ding, Ted Xiao +6
Language provides a way to break down complex concepts into digestible pieces. Recent works in robot imitation learning use language-conditioned policies that predict actions given…
RoboVQA: Multimodal Long-Horizon Reasoning for Robotics
Pierre Sermanet, Tianli Ding, Jeffrey Zhao +18
We present a scalable, bottom-up and intrinsically diverse data collection scheme that can be used for high-level reasoning with long and medium horizons and that has 2.2x higher t…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Robotic Table Tennis: A Case Study into a High Speed Learning System
David B. D'Ambrosio, Jonathan Abelian, Saminda Abeyruwan +32
We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the abilit…
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
Anthony Brohan, Noah Brown, Justice Carbajal +51
We study how vision-language models trained on Internet-scale data can be incorporated directly into end-to-end robotic control to boost generalization and enable emergent semantic…
GoalsEye: Learning High Speed Precision Table Tennis on a Physical Robot
Tianli Ding, Laura Graesser, Saminda Abeyruwan +5
Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and…
Interactive Language: Talking to Robots in Real Time
Corey Lynch, Ayzaan Wahid, Jonathan Tompson +5
We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset, environment, benchma…