Toyota Research Institute · embodied AI & robot learning丰田研究院 · 具身智能与机器人学习
4 curated papers, code, datasets and hardware from Toyota Research Institute (4 with code), with one-line takeaways.4 个来自丰田研究院的精选论文、代码、数据集与硬件（4 个附代码），均配一句话要点。
Labs are matched from each entry's affiliation field by simple name rules (data/labs.yaml); joint work appears under every lab named. Only curated entries are listed, because daily arXiv papers carry no affiliations.机构由每个条目的机构字段按名称规则匹配（data/labs.yaml），合作工作会出现在所有署名机构下。仅列出精选条目，因为每日 arXiv 论文不含机构信息。
A 7B open VLA built on Llama 2 + DINOv2/SigLIP; the de-facto open baseline for VLA research and LoRA fine-tuning.基于 Llama 2 与 DINOv2/SigLIP 的 7B 开源 VLA，是 VLA 研究与 LoRA 微调的事实开源基线。
@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},
}
Generating action sequences by denoising handles multimodal demos far better than regression; now a standard IL baseline.以去噪方式生成动作序列，比回归更能处理多模态演示，已成为模仿学习标准基线。
@misc{chi2023diffusion,
title = {{Diffusion Policy: Visuomotor Policy Learning via Action Diffusion}},
author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
year = {2023},
eprint = {2303.04137},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2303.04137},
}
Model-based toolbox for robotics - multibody dynamics with contact simulation, mathematical programming and trajectory optimization; used in the MIT manipulation and underactuated courses.面向机器人的基于模型的工具箱：带接触的多体动力学仿真、数学规划与轨迹优化；MIT 操作与欠驱动课程即使用它。