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.
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Octo: An Open-Source Generalist Robot Policy
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Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet generalize broadly. However, to be widely applicable across a range of robotic learning scenarios, environments, and tasks, such policies need to handle diverse sensors and action spaces, accommodate a variety of commonly used robotic platforms, and finetune readily and efficiently to new domains. In this work, we aim to lay the groundwork for developing open-source, widely applicable, generalist policies for robotic manipulation. As a first step, we introduce Octo, a large transformer-based policy trained on 800k trajectories from the Open X-Embodiment dataset, the largest robot manipulation dataset to date. It can be instructed via language commands or goal images and can be effectively finetuned to robot setups with new sensory inputs and action spaces within a few hours on standard consumer GPUs. In experiments across 9 robotic platforms, we demonstrate that Octo serves as a versatile policy initialization that can be effectively finetuned to new observation and action spaces. We also perform detailed ablations of design decisions for the Octo model, from architecture to training data, to guide future research on building generalist robot models.
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- abstract Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet generalize broadly. However, to be widely applicable across a range of robotic learning scenarios, environments, and tasks, such policies need to handle diverse sensors and action spaces, accommodate a variety of commonly used robotic platforms, and finetune readily and efficiently to new domains. In this work, we aim to lay the groundwork for developing open-so
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representative citing papers
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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.
PROBEACT is a plug-and-play intervention framework that combines hidden-state probing, kinematic failure detection, and CBF-based correction to boost success rates of pre-trained VLA models on the LIBERO-plus benchmark from 69.6% to 74.1%.
ReCoVLA improves VLA policy reliability by using a VLM as a semantic reward selector to train residual recovery policies in simulation, raising average success from 36.7% to 66.7% in sim and achieving 61.7% in zero-shot sim-to-real physical tests.
World models introduce a stealthy poisoning vector into robot learning pipelines where malicious prompts or dynamics in teleoperated data activate only during synthetic trajectory generation, enabling backdoors in downstream policies.
B2FF pre-generates a milestone bank of familiar future states from the clean initial observation and uses a recoverability-aware selector to guide VLA policies back from deviations, raising average success rate from 56.3% to 74.0% on failure-injected LIBERO.
Q-VGM introduces value-gradient matching via VGG-Flow to improve flow-matching VLA policies with a Cal-QL critic, achieving success rate lifts on LIBERO, RoboTwin, and real-robot tasks.
NextMotionQA benchmark reveals VLMs have critical gaps in fine-grained human motion understanding and align with experts on coarse judgment (κ=0.70) but not fine-grained (κ=0.10).
DVAC uses denoising variance as an intrinsic signal to adaptively chunk actions in flow-based robot policies, improving success rates and cutting replans on LIBERO, RoboTwin, CALVIN, and real-world tasks.
The paper identifies a deployment safety gap in VLA policies where identical checkpoints can be executable-inequivalent due to action metadata mismatches, supported by a derived closed-form transform and empirical drift measurements on LIBERO benchmarks.
BOKBO is the first conformal abstention method for K-sample VLA policies that supplies finite-sample distribution-free guarantees on executed violation rates, with global and Mondrian per-task variants.
MiraBench defines action-conditioned reliability via three levels (physics adherence, action-following fidelity, optimism bias detection) and applies it to 12 model configurations using a 16,000-judgment human corpus, finding visual fidelity a poor proxy for action fidelity, no reliable scale benefi
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
The paper identifies distinct failure mechanisms: excessive posterior-prior regularization erases mode information in latent policies, while smooth base-to-action maps limit mode coverage in generative policies.
EvoScene-VLA maintains an action-updated scene prior across control chunks in VLA policies, raising success rates on RoboTwin tasks from 87.2% to 89.1% fixed and 86.1% to 88.5% randomized while outperforming baselines on a real robot.
A hypernetwork generates complete task-specific visuomotor policy parameters from instructions alone to structurally eliminate observation leakage in language-conditioned robotic control.
MetaFine reconstructs benchmarks into diagnostic scenarios to evaluate vision-language-action models on fine-grained manipulation, exposing dimension-specific failures and identifying the visual encoder as a key bottleneck.
RoboFlow4D is an end-to-end lightweight flow world model that predicts multi-frame 3D flows from visual observations and textual instructions to provide explicit planning for real-time robotic manipulation.
SkiP introduces action relabeling and Motion Spectrum Keying to skip redundant steps in robot trajectories, cutting executed steps by 15-40% while maintaining success rates across 72 simulated and 3 real tasks.
DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
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Interactive Post-Training for Vision-Language-Action Models
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Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
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