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VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

12 July 2023

Wenlong Huang

Chen Wang

Ruohan Zhang

Yunzhu Li

Jiajun Wu

Li Fei-Fei

LM&Ro

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Papers citing "VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models"

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Title
Reinforcement Learning for Generative AI: A Survey Yuanjiang Cao Quan.Z Sheng Julian McAuley Lina Yao SyDa 167 13 0 28 Aug 2023
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition Huy Ha Peter R. Florence Shuran Song LM&Ro 95 158 0 26 Jul 2023
LARG, Language-based Automatic Reward and Goal Generation Julien Perez Denys Proux Claude Roux Michael Niemaz LM&Ro 69 1 0 19 Jun 2023
Language to Rewards for Robotic Skill Synthesis Wenhao Yu Nimrod Gileadi Chuyuan Fu Sean Kirmani Kuang-Huei Lee ... N. Heess Dorsa Sadigh Jie Tan Yuval Tassa F. Xia LM&Ro 97 283 0 14 Jun 2023
Transferring Foundation Models for Generalizable Robotic Manipulation Jiange Yang Wenhui Tan Chuhao Jin Keling Yao Bei Liu Jianlong Fu Ruihua Song Gangshan Wu Limin Wang LM&Ro 132 9 0 09 Jun 2023
LIV: Language-Image Representations and Rewards for Robotic Control Yecheng Jason Ma William Liang Vaidehi Som Vikash Kumar Amy Zhang Osbert Bastani Dinesh Jayaraman LM&Ro 92 130 0 01 Jun 2023
Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang Yuqi Xie Yunfan Jiang Ajay Mandlekar Chaowei Xiao Yuke Zhu Linxi Fan Anima Anandkumar LM&Ro SyDa 162 841 0 25 May 2023
Tree of Thoughts: Deliberate Problem Solving with Large Language Models Shunyu Yao Dian Yu Jeffrey Zhao Izhak Shafran Thomas Griffiths Yuan Cao Karthik Narasimhan LM&Ro LRM AI4CE 183 2,037 0 17 May 2023
Multimodal Procedural Planning via Dual Text-Image Prompting Yujie Lu Pan Lu Zhiyu Zoey Chen Wanrong Zhu Xinze Wang William Yang Wang LM&Ro 120 45 0 02 May 2023
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency B. Liu Yuqian Jiang Xiaohan Zhang Qian Liu Shiqi Zhang Joydeep Biswas Peter Stone LM&Ro LLMAG 109 418 0 22 Apr 2023
Pretrained Language Models as Visual Planners for Human Assistance Dhruvesh Patel H. Eghbalzadeh Nitin Kamra Michael L. Iuzzolino Unnat Jain Ruta Desai LM&Ro 78 25 0 17 Apr 2023
Affordances from Human Videos as a Versatile Representation for Robotics Shikhar Bahl Russell Mendonca Lili Chen Unnat Jain Deepak Pathak 123 177 0 17 Apr 2023
Language Instructed Reinforcement Learning for Human-AI Coordination Hengyuan Hu Dorsa Sadigh LM&Ro 94 64 0 13 Apr 2023
Segment Anything A. Kirillov Eric Mintun Nikhila Ravi Hanzi Mao Chloe Rolland ... Spencer Whitehead Alexander C. Berg Wan-Yen Lo Piotr Dollár Ross B. Girshick MLLM VLM 397 7,421 0 05 Apr 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 97 283 0 21 Mar 2023
GPT-4 Technical Report OpenAI OpenAI OpenAI Josh Achiam Steven Adler Sandhini Agarwal Lama Ahmad ... Shengjia Zhao Tianhao Zheng Juntang Zhuang William Zhuk Barret Zoph LLMAG MLLM 1.5K 14,761 0 15 Mar 2023
ViperGPT: Visual Inference via Python Execution for Reasoning Dídac Surís Sachit Menon Carl Vondrick MLLM LRM ReLM 123 467 0 14 Mar 2023
Task and Motion Planning with Large Language Models for Object Rearrangement Yan Ding Xiaohan Zhang Chris Paxton Shiqi Zhang LM&Ro LRM 80 185 0 10 Mar 2023
PaLM-E: An Embodied Multimodal Language Model Danny Driess F. Xia Mehdi S. M. Sajjadi Corey Lynch Aakanksha Chowdhery ... Marc Toussaint Klaus Greff Andy Zeng Igor Mordatch Peter R. Florence LM&Ro 131 1,677 0 06 Mar 2023
Prophet: Prompting Large Language Models with Complementary Answer Heuristics for Knowledge-based Visual Question Answering Zhou Yu Xuecheng Ouyang Zhenwei Shao Mei Wang Jun Yu MLLM 176 11 0 03 Mar 2023
Open-World Object Manipulation using Pre-trained Vision-Language Models Austin Stone Ted Xiao Yao Lu K. Gopalakrishnan Kuang-Huei Lee ... Sean Kirmani Brianna Zitkovich F. Xia Chelsea Finn Karol Hausman LM&Ro 261 156 0 02 Mar 2023
Reward Design with Language Models Minae Kwon Sang Michael Xie Kalesha Bullard Dorsa Sadigh LM&Ro 125 220 0 27 Feb 2023
MimicPlay: Long-Horizon Imitation Learning by Watching Human Play Chen Wang Linxi Fan Jiankai Sun Ruohan Zhang Li Fei-Fei Danfei Xu Yuke Zhu Anima Anandkumar 128 199 0 24 Feb 2023
Scaling Robot Learning with Semantically Imagined Experience Tianhe Yu Ted Xiao Austin Stone Jonathan Tompson Anthony Brohan ... M. Dee Jodilyn Peralta Brian Ichter Karol Hausman F. Xia LM&Ro DiffM 87 155 0 22 Feb 2023
ChatGPT for Robotics: Design Principles and Model Abilities Sai H. Vemprala Rogerio Bonatti A. Bucker Ashish Kapoor LM&Ro 92 474 0 20 Feb 2023
Guiding Pretraining in Reinforcement Learning with Large Language Models Yuqing Du Olivia Watkins Zihan Wang Cédric Colas Trevor Darrell Pieter Abbeel Abhishek Gupta Jacob Andreas LM&Ro 88 187 0 13 Feb 2023
Translating Natural Language to Planning Goals with Large-Language Models Yaqi Xie Chenyao Yu Tongyao Zhu Jinbin Bai Ze Gong Harold Soh LM&Ro LRM 85 149 0 10 Feb 2023
Zero-Shot Robot Manipulation from Passive Human Videos Homanga Bharadhwaj Abhi Gupta Shubham Tulsiani Vikash Kumar 102 41 0 03 Feb 2023
LaMPP: Language Models as Probabilistic Priors for Perception and Action Belinda Z. Li William Chen Pratyusha Sharma Jacob Andreas 50 15 0 03 Feb 2023
BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models Junnan Li Dongxu Li Silvio Savarese Steven C. H. Hoi VLM MLLM 435 4,663 0 30 Jan 2023
"No, to the Right" -- Online Language Corrections for Robotic Manipulation via Shared Autonomy Yuchen Cui Siddharth Karamcheti Raj Palleti Nidhya Shivakumar Percy Liang Dorsa Sadigh LM&Ro 98 83 0 06 Jan 2023
Self-Instruct: Aligning Language Models with Self-Generated Instructions Yizhong Wang Yeganeh Kordi Swaroop Mishra Alisa Liu Noah A. Smith Daniel Khashabi Hannaneh Hajishirzi ALM SyDa LRM 164 2,256 0 20 Dec 2022
Constitutional AI: Harmlessness from AI Feedback Yuntao Bai Saurav Kadavath Sandipan Kundu Amanda Askell John Kernion ... Dario Amodei Nicholas Joseph Sam McCandlish Tom B. Brown Jared Kaplan SyDa MoMe 216 1,646 0 15 Dec 2022
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 148 1,160 0 13 Dec 2022
CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning Zhao Mandi Homanga Bharadhwaj Vincent Moens Shuran Song Aravind Rajeswaran Vikash Kumar LM&Ro 96 77 0 12 Dec 2022
LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models Chan Hee Song Jiaman Wu Clay Washington Brian M Sadler Wei-Lun Chao Yu-Chuan Su LLMAG LM&Ro 152 422 0 08 Dec 2022
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models Ted Xiao Harris Chan P. Sermanet Ayzaan Wahid Anthony Brohan Karol Hausman Sergey Levine Jonathan Tompson VLM LM&Ro 91 68 0 21 Nov 2022
Visual Programming: Compositional visual reasoning without training Tanmay Gupta Aniruddha Kembhavi ReLM VLM LRM 148 439 0 18 Nov 2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu LM&Ro 82 134 0 20 Oct 2022
Interactive Language: Talking to Robots in Real Time Corey Lynch Ayzaan Wahid Jonathan Tompson Tianli Ding James Betker Robert Baruch Travis Armstrong Peter R. Florence LM&Ro 98 229 0 12 Oct 2022
Visual Language Maps for Robot Navigation Chen Huang Oier Mees Andy Zeng Wolfram Burgard LM&Ro 254 371 0 11 Oct 2022
Grounding Language with Visual Affordances over Unstructured Data Oier Mees Jessica Borja-Diaz Wolfram Burgard LM&Ro 188 114 0 04 Oct 2022
VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training Yecheng Jason Ma Shagun Sodhani Dinesh Jayaraman Osbert Bastani Vikash Kumar Amy Zhang SSL OffRL 94 306 0 30 Sep 2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models Ishika Singh Valts Blukis Arsalan Mousavian Ankit Goyal Danfei Xu Jonathan Tremblay Dieter Fox Jesse Thomason Animesh Garg LM&Ro LLMAG 177 657 0 22 Sep 2022
Open-vocabulary Queryable Scene Representations for Real World Planning Boyuan Chen F. Xia Brian Ichter Kanishka Rao K. Gopalakrishnan Michael S. Ryoo Austin Stone Daniel Kappler LM&Ro 212 187 0 20 Sep 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli Dieter Fox LM&Ro 279 501 0 12 Sep 2022
Human-to-Robot Imitation in the Wild Shikhar Bahl Abhi Gupta Deepak Pathak 99 174 0 19 Jul 2022
XMem: Long-Term Video Object Segmentation with an Atkinson-Shiffrin Memory Model Ho Kei Cheng Alex Schwing VLM VOS 107 410 0 14 Jul 2022
Inner Monologue: Embodied Reasoning through Planning with Language Models Wenlong Huang F. Xia Ted Xiao Harris Chan Jacky Liang ... Tomas Jackson Linda Luu Sergey Levine Karol Hausman Brian Ichter LLMAG LM&Ro LRM 137 922 0 12 Jul 2022
LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action Dhruv Shah B. Osinski Brian Ichter Sergey Levine LM&Ro 253 469 0 10 Jul 2022