UC Berkeley · embodied AI & robot learning加州大学伯克利分校 · 具身智能与机器人学习

@misc{liao2025beyondmimic,
  title = {{BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion}},
  author = {Qiayuan Liao and Takara E. Truong and Xiaoyu Huang and Yuman Gao and Guy Tevet and Koushil Sreenath and C. Karen Liu},
  year = {2025},
  eprint = {2508.08241},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2508.08241},
}

@misc{kim2024openvla,
  title = {{OpenVLA: An Open-Source Vision-Language-Action Model}},
  author = {Moo Jin Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn},
  year = {2024},
  eprint = {2406.09246},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2406.09246},
}

@misc{luo2024precise,
  title = {{Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning}},
  author = {Jianlan Luo and Charles Xu and Jeffrey Wu and Sergey Levine},
  year = {2024},
  eprint = {2410.21845},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2410.21845},
}

@misc{radosavovic2023real,
  title = {{Real-World Humanoid Locomotion with Reinforcement Learning}},
  author = {Ilija Radosavovic and Tete Xiao and Bike Zhang and Trevor Darrell and Jitendra Malik and Koushil Sreenath},
  year = {2023},
  eprint = {2303.03381},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2303.03381},
}

@misc{chi2025demonstrating,
  title = {{Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot}},
  author = {Yufeng Chi and Qiayuan Liao and Junfeng Long and Xiaoyu Huang and Sophia Shao and Borivoje Nikolic and Zhongyu Li and Koushil Sreenath},
  year = {2025},
  eprint = {2504.17249},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2504.17249},
}

@misc{pertsch2025fast,
  title = {{FAST: Efficient Action Tokenization for Vision-Language-Action Models}},
  author = {Karl Pertsch and Kyle Stachowicz and Brian Ichter and Danny Driess and Suraj Nair and Quan Vuong and Oier Mees and Chelsea Finn and Sergey Levine},
  year = {2025},
  eprint = {2501.09747},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2501.09747},
}

@misc{park2025flow,
  title = {{Flow Q-Learning}},
  author = {Seohong Park and Qiyang Li and Sergey Levine},
  year = {2025},
  eprint = {2502.02538},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2502.02538},
}

@misc{zakka2025mujoco,
  title = {{MuJoCo Playground}},
  author = {Kevin Zakka and Baruch Tabanpour and Qiayuan Liao and Mustafa Haiderbhai and Samuel Holt and Jing Yuan Luo and Arthur Allshire and Erik Frey and Koushil Sreenath and Lueder A. Kahrs and Carmelo Sferrazza and Yuval Tassa and Pieter Abbeel},
  year = {2025},
  eprint = {2502.08844},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2502.08844},
}

@misc{geng2025roboverse,
  title = {{RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning}},
  author = {Haoran Geng and Feishi Wang and Songlin Wei and Yuyang Li and Bangjun Wang and Boshi An and Charlie Tianyue Cheng and Haozhe Lou and Peihao Li and Yen-Jen Wang and Yutong Liang and Dylan Goetting and Chaoyi Xu and Haozhe Chen and Yuxi Qian and Yiran Geng and Jiageng Mao and Weikang Wan and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Jialiang Zhang and Chengyang Zhao and Haoran Lu and Yufei Ding and Ran Gong and Yuran Wang and Yuxuan Kuang and Ruihai Wu and Baoxiong Jia and Carlo Sferrazza and Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
  year = {2025},
  eprint = {2504.18904},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2504.18904},
}

@misc{wagenmaker2025steering,
  title = {{Steering Your Diffusion Policy with Latent Space Reinforcement Learning}},
  author = {Andrew Wagenmaker and Mitsuhiko Nakamoto and Yunchu Zhang and Seohong Park and Waleed Yagoub and Anusha Nagabandi and Abhishek Gupta and Sergey Levine},
  year = {2025},
  eprint = {2506.15799},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2506.15799},
}

@misc{fu2024touch,
  title = {{A Touch, Vision, and Language Dataset for Multimodal Alignment}},
  author = {Letian Fu and Gaurav Datta and Huang Huang and William Chung-Ho Panitch and Jaimyn Drake and Joseph Ortiz and Mustafa Mukadam and Mike Lambeta and Roberto Calandra and Ken Goldberg},
  year = {2024},
  eprint = {2402.13232},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/2402.13232},
}

@misc{liao2024berkeley,
  title = {{Berkeley Humanoid: A Research Platform for Learning-based Control}},
  author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
  year = {2024},
  eprint = {2407.21781},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2407.21781},
}

@misc{lambeta2024digitizing,
  title = {{Digitizing Touch with an Artificial Multimodal Fingertip}},
  author = {Mike Lambeta and Tingfan Wu and Ali Sengul and Victoria Rose Most and Nolan Black and Kevin Sawyer and Romeo Mercado and Haozhi Qi and Alexander Sohn and Byron Taylor and Norb Tydingco and Gregg Kammerer and Dave Stroud and Jake Khatha and Kurt Jenkins and Kyle Most and Neal Stein and Ricardo Chavira and Thomas Craven-Bartle and Eric Sanchez and Yitian Ding and Jitendra Malik and Roberto Calandra},
  year = {2024},
  eprint = {2411.02479},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2411.02479},
}

@misc{li2024evaluating,
  title = {{Evaluating Real-World Robot Manipulation Policies in Simulation}},
  author = {Xuanlin Li and Kyle Hsu and Jiayuan Gu and Karl Pertsch and Oier Mees and Homer Rich Walke and Chuyuan Fu and Ishikaa Lunawat and Isabel Sieh and Sean Kirmani and Sergey Levine and Jiajun Wu and Chelsea Finn and Hao Su and Quan Vuong and Ted Xiao},
  year = {2024},
  eprint = {2405.05941},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2405.05941},
}

@misc{sferrazza2024humanoidbench,
  title = {{HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation}},
  author = {Carmelo Sferrazza and Dun-Ming Huang and Xingyu Lin and Youngwoon Lee and Pieter Abbeel},
  year = {2024},
  eprint = {2403.10506},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.10506},
}

@misc{lin2024learning,
  title = {{Learning Visuotactile Skills with Two Multifingered Hands}},
  author = {Toru Lin and Yu Zhang and Qiyang Li and Haozhi Qi and Brent Yi and Sergey Levine and Jitendra Malik},
  year = {2024},
  eprint = {2404.16823},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2404.16823},
}

@misc{team2024octo,
  title = {{Octo: An Open-Source Generalist Robot Policy}},
  author = {Octo Model Team and Dibya Ghosh and Homer Walke and Karl Pertsch and Kevin Black and Oier Mees and Sudeep Dasari and Joey Hejna and Tobias Kreiman and Charles Xu and Jianlan Luo and You Liang Tan and Lawrence Yunliang Chen and Pannag Sanketi and Quan Vuong and Ted Xiao and Dorsa Sadigh and Chelsea Finn and Sergey Levine},
  year = {2024},
  eprint = {2405.12213},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2405.12213},
}

@misc{luo2024serl,
  title = {{SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning}},
  author = {Jianlan Luo and Zheyuan Hu and Charles Xu and You Liang Tan and Jacob Berg and Archit Sharma and Stefan Schaal and Chelsea Finn and Abhishek Gupta and Sergey Levine},
  year = {2024},
  eprint = {2401.16013},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2401.16013},
}

@misc{walke2023bridgedata,
  title = {{BridgeData V2: A Dataset for Robot Learning at Scale}},
  author = {Homer Walke and Kevin Black and Abraham Lee and Moo Jin Kim and Max Du and Chongyi Zheng and Tony Zhao and Philippe Hansen-Estruch and Quan Vuong and Andre He and Vivek Myers and Kuan Fang and Chelsea Finn and Sergey Levine},
  year = {2023},
  eprint = {2308.12952},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2308.12952},
}

@misc{nakamoto2023cal,
  title = {{Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning}},
  author = {Mitsuhiko Nakamoto and Yuexiang Zhai and Anikait Singh and Max Sobol Mark and Yi Ma and Chelsea Finn and Aviral Kumar and Sergey Levine},
  year = {2023},
  eprint = {2303.05479},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2303.05479},
}

@misc{ball2023efficient,
  title = {{Efficient Online Reinforcement Learning with Offline Data}},
  author = {Philip J. Ball and Laura Smith and Ilya Kostrikov and Sergey Levine},
  year = {2023},
  eprint = {2302.02948},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2302.02948},
}

@misc{wu2023gello,
  title = {{GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators}},
  author = {Philipp Wu and Yide Shentu and Zhongke Yi and Xingyu Lin and Pieter Abbeel},
  year = {2023},
  eprint = {2309.13037},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2309.13037},
}

@misc{qi2023general,
  title = {{General In-Hand Object Rotation with Vision and Touch}},
  author = {Haozhi Qi and Brent Yi and Sudharshan Suresh and Mike Lambeta and Yi Ma and Roberto Calandra and Jitendra Malik},
  year = {2023},
  eprint = {2309.09979},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2309.09979},
}

@misc{yang2023learning,
  title = {{Learning Interactive Real-World Simulators}},
  author = {Sherry Yang and Yilun Du and Kamyar Ghasemipour and Jonathan Tompson and Leslie Kaelbling and Dale Schuurmans and Pieter Abbeel},
  year = {2023},
  eprint = {2310.06114},
  archivePrefix = {arXiv},
  primaryClass = {cs.AI},
  url = {https://arxiv.org/abs/2310.06114},
}

@misc{sridhar2023nomad,
  title = {{NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration}},
  author = {Ajay Sridhar and Dhruv Shah and Catherine Glossop and Sergey Levine},
  year = {2023},
  eprint = {2310.07896},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2310.07896},
}

@misc{shah2023vint,
  title = {{ViNT: A Foundation Model for Visual Navigation}},
  author = {Dhruv Shah and Ajay Sridhar and Nitish Dashora and Kyle Stachowicz and Kevin Black and Noriaki Hirose and Sergey Levine},
  year = {2023},
  eprint = {2306.14846},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2306.14846},
}

@misc{wu2022daydreamer,
  title = {{DayDreamer: World Models for Physical Robot Learning}},
  author = {Philipp Wu and Alejandro Escontrela and Danijar Hafner and Ken Goldberg and Pieter Abbeel},
  year = {2022},
  eprint = {2206.14176},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2206.14176},
}

@misc{shah2022gnm,
  title = {{GNM: A General Navigation Model to Drive Any Robot}},
  author = {Dhruv Shah and Ajay Sridhar and Arjun Bhorkar and Noriaki Hirose and Sergey Levine},
  year = {2022},
  eprint = {2210.03370},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2210.03370},
}

@misc{shah2022lm,
  title = {{LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action}},
  author = {Dhruv Shah and Blazej Osinski and Brian Ichter and Sergey Levine},
  year = {2022},
  eprint = {2207.04429},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2207.04429},
}

@misc{janner2022planning,
  title = {{Planning with Diffusion for Flexible Behavior Synthesis}},
  author = {Michael Janner and Yilun Du and Joshua B. Tenenbaum and Sergey Levine},
  year = {2022},
  eprint = {2205.09991},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2205.09991},
}

@misc{peng2021amp,
  title = {{AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control}},
  author = {Xue Bin Peng and Ze Ma and Pieter Abbeel and Sergey Levine and Angjoo Kanazawa},
  year = {2021},
  eprint = {2104.02180},
  archivePrefix = {arXiv},
  primaryClass = {cs.GR},
  url = {https://arxiv.org/abs/2104.02180},
}

@misc{chen2021decision,
  title = {{Decision Transformer: Reinforcement Learning via Sequence Modeling}},
  author = {Lili Chen and Kevin Lu and Aravind Rajeswaran and Kimin Lee and Aditya Grover and Michael Laskin and Pieter Abbeel and Aravind Srinivas and Igor Mordatch},
  year = {2021},
  eprint = {2106.01345},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2106.01345},
}

@misc{kostrikov2021offline,
  title = {{Offline Reinforcement Learning with Implicit Q-Learning}},
  author = {Ilya Kostrikov and Ashvin Nair and Sergey Levine},
  year = {2021},
  eprint = {2110.06169},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2110.06169},
}

@misc{kumar2021rma,
  title = {{RMA: Rapid Motor Adaptation for Legged Robots}},
  author = {Ashish Kumar and Zipeng Fu and Deepak Pathak and Jitendra Malik},
  year = {2021},
  eprint = {2107.04034},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2107.04034},
}

@misc{nair2020awac,
  title = {{AWAC: Accelerating Online Reinforcement Learning with Offline Datasets}},
  author = {Ashvin Nair and Abhishek Gupta and Murtaza Dalal and Sergey Levine},
  year = {2020},
  eprint = {2006.09359},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2006.09359},
}

@misc{kumar2020conservative,
  title = {{Conservative Q-Learning for Offline Reinforcement Learning}},
  author = {Aviral Kumar and Aurick Zhou and George Tucker and Sergey Levine},
  year = {2020},
  eprint = {2006.04779},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/2006.04779},
}

@misc{yu2019meta,
  title = {{Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning}},
  author = {Tianhe Yu and Deirdre Quillen and Zhanpeng He and Ryan Julian and Avnish Narayan and Hayden Shively and Adithya Bellathur and Karol Hausman and Chelsea Finn and Sergey Levine},
  year = {2019},
  eprint = {1910.10897},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1910.10897},
}

@misc{dasari2019robonet,
  title = {{RoboNet: Large-Scale Multi-Robot Learning}},
  author = {Sudeep Dasari and Frederik Ebert and Stephen Tian and Suraj Nair and Bernadette Bucher and Karl Schmeckpeper and Siddharth Singh and Sergey Levine and Chelsea Finn},
  year = {2019},
  eprint = {1910.11215},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1910.11215},
}

@misc{haarnoja2018soft,
  title = {{Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor}},
  author = {Tuomas Haarnoja and Aurick Zhou and Pieter Abbeel and Sergey Levine},
  year = {2018},
  eprint = {1801.01290},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1801.01290},
}

@misc{bansal2017hamilton,
  title = {{Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances}},
  author = {Somil Bansal and Mo Chen and Sylvia Herbert and Claire J. Tomlin},
  year = {2017},
  eprint = {1709.07523},
  archivePrefix = {arXiv},
  primaryClass = {eess.SY},
  url = {https://arxiv.org/abs/1709.07523},
}

@misc{peng2017sim,
  title = {{Sim-to-Real Transfer of Robotic Control with Dynamics Randomization}},
  author = {Xue Bin Peng and Marcin Andrychowicz and Wojciech Zaremba and Pieter Abbeel},
  year = {2017},
  eprint = {1710.06537},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1710.06537},
}

@misc{calli2015benchmarking,
  title = {{Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols}},
  author = {Berk Calli and Aaron Walsman and Arjun Singh and Siddhartha Srinivasa and Pieter Abbeel and Aaron M. Dollar},
  year = {2015},
  eprint = {1502.03143},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1502.03143},
}