Stanford · embodied AI & robot learning斯坦福大学 · 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{chi2024universal,
  title = {{Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots}},
  author = {Cheng Chi and Zhenjia Xu and Chuer Pan and Eric Cousineau and Benjamin Burchfiel and Siyuan Feng and Russ Tedrake and Shuran Song},
  year = {2024},
  eprint = {2402.10329},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2402.10329},
}

@misc{zhao2023learning,
  title = {{Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware}},
  author = {Tony Z. Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn},
  year = {2023},
  eprint = {2304.13705},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2304.13705},
}

@misc{jiang2025behavior,
  title = {{BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities}},
  author = {Yunfan Jiang and Ruohan Zhang and Josiah Wong and Chen Wang and Yanjie Ze and Hang Yin and Cem Gokmen and Shuran Song and Jiajun Wu and Li Fei-Fei},
  year = {2025},
  eprint = {2503.05652},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2503.05652},
}

@misc{xu2025dexumi,
  title = {{DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation}},
  author = {Mengda Xu and Han Zhang and Yifan Hou and Zhenjia Xu and Linxi Fan and Manuela Veloso and Shuran Song},
  year = {2025},
  eprint = {2505.21864},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2505.21864},
}

@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{kim2025fine,
  title = {{Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success}},
  author = {Moo Jin Kim and Chelsea Finn and Percy Liang},
  year = {2025},
  eprint = {2502.19645},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2502.19645},
}

@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{shi2025toddlerbot,
  title = {{ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation}},
  author = {Haochen Shi and Weizhuo Wang and Shuran Song and C. Karen Liu},
  year = {2025},
  eprint = {2502.00893},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2502.00893},
}

@misc{li2025unified,
  title = {{Unified Video Action Model}},
  author = {Shuang Li and Yihuai Gao and Dorsa Sadigh and Shuran Song},
  year = {2025},
  eprint = {2503.00200},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2503.00200},
}

@misc{wang2024dexcap,
  title = {{DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation}},
  author = {Chen Wang and Haochen Shi and Weizhuo Wang and Ruohan Zhang and Li Fei-Fei and C. Karen Liu},
  year = {2024},
  eprint = {2403.07788},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.07788},
}

@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{fu2024humanplus,
  title = {{HumanPlus: Humanoid Shadowing and Imitation from Humans}},
  author = {Zipeng Fu and Qingqing Zhao and Qi Wu and Gordon Wetzstein and Chelsea Finn},
  year = {2024},
  eprint = {2406.10454},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2406.10454},
}

@misc{fu2024mobile,
  title = {{Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation}},
  author = {Zipeng Fu and Tony Z. Zhao and Chelsea Finn},
  year = {2024},
  eprint = {2401.02117},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2401.02117},
}

@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{huang2024rekep,
  title = {{ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation}},
  author = {Wenlong Huang and Chen Wang and Yunzhu Li and Ruohan Zhang and Li Fei-Fei},
  year = {2024},
  eprint = {2409.01652},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2409.01652},
}

@misc{dass2024telemoma,
  title = {{TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation}},
  author = {Shivin Dass and Wensi Ai and Yuqian Jiang and Samik Singh and Jiaheng Hu and Ruohan Zhang and Peter Stone and Ben Abbatematteo and Roberto Martín-Martín},
  year = {2024},
  eprint = {2403.07869},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.07869},
}

@misc{wu2024tidybot,
  title = {{TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning}},
  author = {Jimmy Wu and William Chong and Robert Holmberg and Aaditya Prasad and Yihuai Gao and Oussama Khatib and Shuran Song and Szymon Rusinkiewicz and Jeannette Bohg},
  year = {2024},
  eprint = {2412.10447},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2412.10447},
}

@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{firoozi2023foundation,
  title = {{Foundation Models in Robotics: Applications, Challenges, and the Future}},
  author = {Roya Firoozi and Johnathan Tucker and Stephen Tian and Anirudha Majumdar and Jiankai Sun and Weiyu Liu and Yuke Zhu and Shuran Song and Ashish Kapoor and Karol Hausman and Brian Ichter and Danny Driess and Jiajun Wu and Cewu Lu and Mac Schwager},
  year = {2023},
  eprint = {2312.07843},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2312.07843},
}

@misc{zhuang2023robot,
  title = {{Robot Parkour Learning}},
  author = {Ziwen Zhuang and Zipeng Fu and Jianren Wang and Christopher Atkeson and Soeren Schwertfeger and Chelsea Finn and Hang Zhao},
  year = {2023},
  eprint = {2309.05665},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2309.05665},
}

@misc{huang2023voxposer,
  title = {{VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models}},
  author = {Wenlong Huang and Chen Wang and Ruohan Zhang and Yunzhu Li and Jiajun Wu and Li Fei-Fei},
  year = {2023},
  eprint = {2307.05973},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2307.05973},
}

@misc{li2024behavior,
  title = {{BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation}},
  author = {Chengshu Li and Ruohan Zhang and Josiah Wong and Cem Gokmen and Sanjana Srivastava and Roberto Martín-Martín and Chen Wang and Gabrael Levine and Wensi Ai and Benjamin Martinez and Hang Yin and Michael Lingelbach and Minjune Hwang and Ayano Hiranaka and Sujay Garlanka and Arman Aydin and Sharon Lee and Jiankai Sun and Mona Anvari and Manasi Sharma and Dhruva Bansal and Samuel Hunter and Kyu-Young Kim and Alan Lou and Caleb R Matthews and Ivan Villa-Renteria and Jerry Huayang Tang and Claire Tang and Fei Xia and Yunzhu Li and Silvio Savarese and Hyowon Gweon and C. Karen Liu and Jiajun Wu and Li Fei-Fei},
  year = {2024},
  eprint = {2403.09227},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2403.09227},
}

@misc{nair2022r,
  title = {{R3M: A Universal Visual Representation for Robot Manipulation}},
  author = {Suraj Nair and Aravind Rajeswaran and Vikash Kumar and Chelsea Finn and Abhinav Gupta},
  year = {2022},
  eprint = {2203.12601},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2203.12601},
}

@misc{li2022see,
  title = {{See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation}},
  author = {Hao Li and Yizhi Zhang and Junzhe Zhu and Shaoxiong Wang and Michelle A Lee and Huazhe Xu and Edward Adelson and Li Fei-Fei and Ruohan Gao and Jiajun Wu},
  year = {2022},
  eprint = {2212.03858},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2212.03858},
}

@misc{jiang2022vima,
  title = {{VIMA: General Robot Manipulation with Multimodal Prompts}},
  author = {Yunfan Jiang and Agrim Gupta and Zichen Zhang and Guanzhi Wang and Yongqiang Dou and Yanjun Chen and Li Fei-Fei and Anima Anandkumar and Yuke Zhu and Linxi Fan},
  year = {2022},
  eprint = {2210.03094},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2210.03094},
}

@misc{mandlekar2021what,
  title = {{What Matters in Learning from Offline Human Demonstrations for Robot Manipulation}},
  author = {Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese and Yuke Zhu and Roberto Martín-Martín},
  year = {2021},
  eprint = {2108.03298},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2108.03298},
}

@misc{stellato2017osqp,
  title = {{OSQP: An Operator Splitting Solver for Quadratic Programs}},
  author = {Bartolomeo Stellato and Goran Banjac and Paul Goulart and Alberto Bemporad and Stephen Boyd},
  year = {2017},
  eprint = {1711.08013},
  archivePrefix = {arXiv},
  primaryClass = {math.OC},
  url = {https://arxiv.org/abs/1711.08013},
}

@misc{zhu2020robosuite,
  title = {{robosuite: A Modular Simulation Framework and Benchmark for Robot Learning}},
  author = {Yuke Zhu and Josiah Wong and Ajay Mandlekar and Roberto Martín-Martín and Abhishek Joshi and Kevin Lin and Abhiram Maddukuri and Soroush Nasiriany and Yifeng Zhu},
  year = {2020},
  eprint = {2009.12293},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2009.12293},
}

@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{lee2018making,
  title = {{Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks}},
  author = {Michelle A. Lee and Yuke Zhu and Krishnan Srinivasan and Parth Shah and Silvio Savarese and Li Fei-Fei and Animesh Garg and Jeannette Bohg},
  year = {2018},
  eprint = {1810.10191},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1810.10191},
}

@misc{dai2017scannet,
  title = {{ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes}},
  author = {Angela Dai and Angel X. Chang and Manolis Savva and Maciej Halber and Thomas Funkhouser and Matthias Nießner},
  year = {2017},
  eprint = {1702.04405},
  archivePrefix = {arXiv},
  primaryClass = {cs.CV},
  url = {https://arxiv.org/abs/1702.04405},
}

@misc{ho2016generative,
  title = {{Generative Adversarial Imitation Learning}},
  author = {Jonathan Ho and Stefano Ermon},
  year = {2016},
  eprint = {1606.03476},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1606.03476},
}