HABIT is a large-scale robot demonstration dataset for human-present environments that elicits spatiotemporal synchronization, yielding, and gesture grounding behaviors absent from robot-only training data.
super hub Canonical reference
$\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
Canonical reference. 72% of citing Pith papers cite this work as background.
650
Pith papers citing it
Background
72% of classified citations
abstract
Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the level of generality required for effective real-world systems faces major obstacles in terms of data, generalization, and robustness. In this paper, we discuss how generalist robot policies (i.e., robot foundation models) can address these challenges, and how we can design effective generalist robot policies for complex and highly dexterous tasks. We propose a novel flow matching architecture built on top of a pre-trained vision-language model (VLM) to inherit Internet-scale semantic knowledge. We then discuss how this model can be trained on a large and diverse dataset from multiple dexterous robot platforms, including single-arm robots, dual-arm robots, and mobile manipulators. We evaluate our model in terms of its ability to perform tasks in zero shot after pre-training, follow language instructions from people and from a high-level VLM policy, and its ability to acquire new skills via fine-tuning. Our results cover a wide variety of tasks, such as laundry folding, table cleaning, and assembling boxes.
hub tools
citation-role summary
background 120
baseline 25
method 13
dataset 1
other 1
citation-polarity summary
claims ledger
- abstract Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the level of generality required for effective real-world systems faces major obstacles in terms of data, generalization, and robustness. In this paper, we discuss how generalist robot policies (i.e., robot foundation models) can address these challenges, and how we can design effective generalist robot policies for complex and highly dexterous tasks. We propose
authors
co-cited works
representative citing papers
TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
Introduces the TVR active viewpoint-matching task and TVRBench indoor simulation benchmark, where foundation models start at low single-digit success rates but reach 51.4% after visual-action SFT and multi-turn GRPO post-training.
TAVIS is a released benchmark showing active vision improves imitation learning in a task-dependent manner, multi-task policies struggle with shifts, and imitation produces human-like anticipatory gaze.
Vision-language-action models are highly vulnerable to membership inference attacks, including practical black-box versions that exploit generated actions and motion trajectories.
OPT-AIL provides the first provably efficient adversarial imitation learning algorithms under general function approximation, achieving polynomial expert sample and interaction complexity.
RoboLab is a new simulation benchmark with 120 tasks across visual, procedural, and relational axes that quantifies generalization gaps and perturbation sensitivity in task-generalist robotic policies.
Embodied.cpp introduces a portable C++ inference runtime with modular layers for deploying VLA and WAM models on heterogeneous robots, reporting 100% and 91% task success on two models plus memory reduction on a WAM benchmark.
LIME formulates language-conditioned camera motion as predicting SE(3) target poses from RGB and intent text, using mined multi-intent supervision from egocentric video and a flow-matching pose head.
OOPSIEVERSE is a new damage-aware simulation benchmark for household robot manipulation that converts contact, thermal, and fluid signals into task-agnostic damage metrics and demonstrates uses in safer policy learning and benchmarking.
SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
Labimus is the first benchmark for humanoid dexterous manipulation in organic chemistry laboratories, exposing a gap between task completion and required experimental precision.
SWAM jointly generates intermediate RGB-D sequences and action trajectories from monocular RGB start/goal observations for embodied navigation.
SurgVLA-Bench supplies a hierarchical task taxonomy and multi-dimensional evaluation framework for VLA models in laparoscopic robotics simulation, showing autoregressive models excel at semantics while flow-matching models achieve higher precision but all fall short due to endoscopic view constraint
ForesightSafety-VLA creates a diagnostic benchmark for VLA safety with taxonomy across physical, language, and visual risks, showing perception and structure variations cause more safety degradation than language changes in tested models.
LIBERO-Safety supplies a scalable benchmark, data-generation pipeline, and 19,664-demonstration dataset that exposes a generalization-safety tension in current VLA models where diverse training improves collision avoidance but task success stays limited by trajectory quality and semantic understandi
Execution-state capsules enable graph-bound full-state checkpointing and sub-millisecond restore for LLMs including KV and recurrent states, yielding 3.9x-27x TTFT speedups in on-device physical-AI serving.
Processed egocentric human video outperforms teleoperated real-robot trajectories as pretraining data for embodied foundation models, delivering 24% lower validation loss and 52.5-90% higher task success rates under matched post-training protocols.
FAFM performs flow matching in the frequency domain using DCT on action sequences to produce continuous temporally consistent robotic actions with a Sobolev-style smoothness regularizer.
EquiVLA is the first general framework for end-to-end SO(2)-equivariant VLA models using EquiPerceptor and EquiActor modules, reporting improved success rates on LIBERO, CALVIN, and real-robot benchmarks.
PAINT reframes asynchronous flow-based action chunking as an initial noise selection problem solved via backward Euler inversion and a repainting rule.
Mix-QVLA is a task-evidence-aware mixed-precision PTQ framework for VLA models that preserves task-relevant evidence via evidence-mass and attribution-distribution metrics to guide bit allocation under memory and BitOps constraints.
Act2Answer protocol reveals VLA models retain simple concepts but show larger gaps on complex semantics than source VLMs, with VQA co-training linked to better retention and knowledge signals peaking in middle layers.
A single Encoder-Router network uses semigroup superposition of frame, modulation, and coefficient parameters to produce a scene-specific Riemannian metric field that supports zero-shot geodesic planning after training on one two-obstacle scene.
citing papers explorer
No citing papers match the current filters.