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From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data

18 October 2022

Zichen Jeff Cui

Yibin Wang

Nur Muhammad (Mahi) Shafiullah

Papers citing "From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data"

48 / 48 papers shown

Title
UniVLA: Learning to Act Anywhere with Task-centric Latent Actions Qingwen Bu Yanting Yang Jisong Cai Shenyuan Gao Guanghui Ren Maoqing Yao Ping Luo Hongyang Li 373 9 0 09 May 2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu Raymond Yu S. Feng Benjamin Burchfiel Paarth Shah Abhishek Gupta VGen 115 7 0 03 Apr 2025
HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model Jiaming Liu Hao Chen Pengju An Zhuoyang Liu Renrui Zhang ... Chengkai Hou Mengdi Zhao KC alex Zhou Pheng-Ann Heng Shanghang Zhang 154 19 0 13 Mar 2025
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment Wendi Chen Han Xue Fangyuan Zhou Yuan Fang Cewu Lu 85 1 0 15 Oct 2024
Diffusion Model Predictive Control Guangyao Zhou Sivaramakrishnan Swaminathan Rajkumar Vasudeva Raju J. S. Guntupalli Wolfgang Lehrach Joseph Ortiz Antoine Dedieu Miguel Lázaro-Gredilla Kevin P. Murphy 78 12 0 07 Oct 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 290 54 0 23 May 2024
Behavior Transformers: Cloning $k$ modes with one stone Nur Muhammad (Mahi) Shafiullah Zichen Jeff Cui Ariuntuya Altanzaya Lerrel Pinto OffRL 67 238 0 22 Jun 2022
Contrastive Learning as Goal-Conditioned Reinforcement Learning Benjamin Eysenbach Tianjun Zhang Ruslan Salakhutdinov Sergey Levine SSL OffRL 96 162 0 15 Jun 2022
How Far I'll Go: Offline Goal-Conditioned Reinforcement Learning via $f$ -Advantage Regression Yecheng Jason Ma Jason Yan Dinesh Jayaraman Osbert Bastani OffRL 80 58 0 07 Jun 2022
When does return-conditioned supervised learning work for offline reinforcement learning? David Brandfonbrener A. Bietti Jacob Buckman Romain Laroche Joan Bruna OffRL 60 65 0 02 Jun 2022
You Can't Count on Luck: Why Decision Transformers and RvS Fail in Stochastic Environments Keiran Paster Sheila A. McIlraith Jimmy Ba OffRL 249 28 0 31 May 2022
Hierarchical Text-Conditional Image Generation with CLIP Latents Aditya A. Ramesh Prafulla Dhariwal Alex Nichol Casey Chu Mark Chen VLM DiffM 413 6,897 0 13 Apr 2022
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning Abhishek Gupta Corey Lynch Brandon Kinman Garrett Peake Sergey Levine Karol Hausman OffRL 112 17 0 29 Mar 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 98 582 0 23 Mar 2022
Retrieval-Augmented Reinforcement Learning Anirudh Goyal A. Friesen Andrea Banino T. Weber Nan Rosemary Ke ... Michal Valko Simon Osindero Timothy Lillicrap N. Heess Charles Blundell OffRL 64 54 0 17 Feb 2022
Rethinking Goal-conditioned Supervised Learning and Its Connection to Offline RL Rui Yang Yiming Lu Wenzhe Li Hao Sun Meng Fang Yali Du Xiu Li Lei Han Chongjie Zhang OffRL 80 72 0 09 Feb 2022
RvS: What is Essential for Offline RL via Supervised Learning? Scott Emmons Benjamin Eysenbach Ilya Kostrikov Sergey Levine OffRL 73 183 0 20 Dec 2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations Henry M. Clever Ankur Handa H. Mazhar Kevin Parker Omer Shapira Qian Wan Yashraj S. Narang Iretiayo Akinola Maya Cakmak Dieter Fox 63 18 0 09 Dec 2021
The Surprising Effectiveness of Representation Learning for Visual Imitation Jyothish Pari Nur Muhammad (Mahi) Shafiullah Sridhar Pandian Arunachalam Lerrel Pinto SSL 95 171 0 02 Dec 2021
Towards More Generalizable One-shot Visual Imitation Learning Zhao Mandi Fangchen Liu Kimin Lee Pieter Abbeel 66 61 0 26 Oct 2021
Implicit Behavioral Cloning Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 117 390 0 01 Sep 2021
Playful Interactions for Representation Learning Sarah Young Jyothish Pari Pieter Abbeel Lerrel Pinto SSL 74 15 0 19 Jul 2021
Offline Reinforcement Learning as One Big Sequence Modeling Problem Michael Janner Qiyang Li Sergey Levine OffRL 156 685 0 03 Jun 2021
Decision Transformer: Reinforcement Learning via Sequence Modeling Lili Chen Kevin Lu Aravind Rajeswaran Kimin Lee Aditya Grover Michael Laskin Pieter Abbeel A. Srinivas Igor Mordatch OffRL 136 1,656 0 02 Jun 2021
Provable Representation Learning for Imitation with Contrastive Fourier Features Ofir Nachum Mengjiao Yang SSL OffRL 84 39 0 26 May 2021
Offline Reinforcement Learning with Fisher Divergence Critic Regularization Ilya Kostrikov Jonathan Tompson Rob Fergus Ofir Nachum OffRL 134 305 0 14 Mar 2021
Parrot: Data-Driven Behavioral Priors for Reinforcement Learning Avi Singh Huihan Liu G. Zhou Albert Yu Nicholas Rhinehart Sergey Levine OffRL OnRL 79 142 0 19 Nov 2020
Transformers for One-Shot Visual Imitation Sudeep Dasari Abhinav Gupta LM&Ro 86 94 0 11 Nov 2020
Accelerating Reinforcement Learning with Learned Skill Priors Karl Pertsch Youngwoon Lee Joseph J. Lim OffRL OnRL 100 239 0 22 Oct 2020
Bootstrap your own latent: A new approach to self-supervised Learning Jean-Bastien Grill Florian Strub Florent Altché Corentin Tallec Pierre Harvey Richemond ... M. G. Azar Bilal Piot Koray Kavukcuoglu Rémi Munos Michal Valko SSL 374 6,833 0 13 Jun 2020
Language Models are Few-Shot Learners Tom B. Brown Benjamin Mann Nick Ryder Melanie Subbiah Jared Kaplan ... Christopher Berner Sam McCandlish Alec Radford Ilya Sutskever Dario Amodei BDL 838 42,332 0 28 May 2020
Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems Sergey Levine Aviral Kumar George Tucker Justin Fu OffRL GP 561 2,040 0 04 May 2020
Energy-Based Imitation Learning Minghuan Liu Tairan He Minkai Xu Weinan Zhang 59 48 0 20 Apr 2020
D4RL: Datasets for Deep Data-Driven Reinforcement Learning Justin Fu Aviral Kumar Ofir Nachum George Tucker Sergey Levine GP OffRL 229 1,381 0 15 Apr 2020
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations Ajay Mandlekar Danfei Xu Roberto Martín-Martín Silvio Savarese Li Fei-Fei OffRL 88 138 0 13 Mar 2020
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning Abhishek Gupta Vikash Kumar Corey Lynch Sergey Levine Karol Hausman 89 433 0 25 Oct 2019
Maximum Entropy-Regularized Multi-Goal Reinforcement Learning Rui Zhao Xudong Sun Volker Tresp 57 83 0 21 May 2019
Learning Latent Plans from Play Corey Lynch Mohi Khansari Ted Xiao Vikash Kumar Jonathan Tompson Sergey Levine P. Sermanet SSL LM&Ro 93 406 0 05 Mar 2019
Many-Goals Reinforcement Learning Vivek Veeriah Junhyuk Oh Satinder Singh KELM 65 53 0 22 Jun 2018
Data-Efficient Hierarchical Reinforcement Learning Ofir Nachum S. Gu Honglak Lee Sergey Levine OffRL 99 811 0 21 May 2018
CARLA: An Open Urban Driving Simulator Alexey Dosovitskiy G. Ros Felipe Codevilla Antonio M. López V. Koltun VLM 137 5,199 0 10 Nov 2017
Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation Tianhao Zhang Zoe McCarthy Owen Jow Dennis Lee Xi Chen Ken Goldberg Pieter Abbeel SSL 96 660 0 12 Oct 2017
Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstration Rouhollah Rahmatizadeh P. Abolghasemi Ladislau Bölöni Sergey Levine 100 258 0 10 Jul 2017
Hindsight Experience Replay Marcin Andrychowicz Dwight Crow Alex Ray Jonas Schneider Rachel Fong Peter Welinder Bob McGrew Joshua Tobin Pieter Abbeel Wojciech Zaremba OffRL 271 2,337 0 05 Jul 2017
One-Shot Imitation Learning Yan Duan Marcin Andrychowicz Bradly C. Stadie Jonathan Ho Jonas Schneider Ilya Sutskever Pieter Abbeel Wojciech Zaremba OffRL 82 688 0 21 Mar 2017
Generative Adversarial Imitation Learning Jonathan Ho Stefano Ermon GAN 159 3,119 0 10 Jun 2016
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 2.2K 194,322 0 10 Dec 2015
Fast R-CNN Ross B. Girshick ObjD 309 25,081 0 30 Apr 2015