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@ -34,7 +34,7 @@ If you find this repository useful, please consider [citing](#citation) and STAR
* "PDDL Planning with Pretrained Large Language Models", *NeurlPS, Oct 2022*. [[Paper](https://openreview.net/forum?id=1QMMUB4zfl)] [[Github](https://tinyurl.com/llm4pddl)] * "PDDL Planning with Pretrained Large Language Models", *NeurlPS, Oct 2022*. [[Paper](https://openreview.net/forum?id=1QMMUB4zfl)] [[Github](https://tinyurl.com/llm4pddl)]
* **ProgPrompt**: "Generating Situated Robot Task Plans using Large Language Models", *arXiv, Sept 2022*. [[Paper](https://arxiv.org/abs/2209.11302)] [[Github](https://github.com/progprompt/progprompt)] [[Website](https://progprompt.github.io/)] * **ProgPrompt**: "Generating Situated Robot Task Plans using Large Language Models", *arXiv, Sept 2022*. [[Paper](https://arxiv.org/abs/2209.11302)] [[Github](https://github.com/progprompt/progprompt)] [[Website](https://progprompt.github.io/)]
* **Code-As-Policies**: "Code as Policies: Language Model Programs for Embodied Control", *arXiv, Sept 2022*. [[Paper](https://arxiv.org/abs/2209.07753)] [[Colab](https://github.com/google-research/google-research/tree/master/code_as_policies)] [[Website](https://code-as-policies.github.io/)] * **Code-As-Policies**: "Code as Policies: Language Model Programs for Embodied Control", *arXiv, Sept 2022*. [[Paper](https://arxiv.org/abs/2209.07753)] [[Colab](https://github.com/google-research/google-research/tree/master/code_as_policies)] [[Website](https://code-as-policies.github.io/)]
* **PIGLeT**: "PIGLeT: Language Grounding Through Neuro-Symbolic Interaction in a 3D World", *ACL, Jun 2021*. [[Paper](https://arxiv.org/abs/2201.07207)] [[Pytorch Code](http://github.com/rowanz/piglet)] [[Website](https://rowanzellers.com/piglet/)] * **PIGLeT**: "PIGLeT: Language Grounding Through Neuro-Symbolic Interaction in a 3D World", *ACL, June 2021*. [[Paper](https://arxiv.org/abs/2201.07207)] [[Pytorch Code](http://github.com/rowanz/piglet)] [[Website](https://rowanzellers.com/piglet/)]
* **Say-Can**: "Do As I Can, Not As I Say: Grounding Language in Robotic Affordances", *arXiv, Apr 2021*. [[Paper](https://arxiv.org/abs/2204.01691)] [[Colab](https://say-can.github.io/#open-source)] [[Website](https://say-can.github.io/)] * **Say-Can**: "Do As I Can, Not As I Say: Grounding Language in Robotic Affordances", *arXiv, Apr 2021*. [[Paper](https://arxiv.org/abs/2204.01691)] [[Colab](https://say-can.github.io/#open-source)] [[Website](https://say-can.github.io/)]
* **Socratic**: "Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language", *arXiv, Apr 2021*. [[Paper](https://arxiv.org/abs/2204.00598)] [[Pytorch Code](https://socraticmodels.github.io/#code)] [[Website](https://socraticmodels.github.io/)] * **Socratic**: "Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language", *arXiv, Apr 2021*. [[Paper](https://arxiv.org/abs/2204.00598)] [[Pytorch Code](https://socraticmodels.github.io/#code)] [[Website](https://socraticmodels.github.io/)]
@ -42,10 +42,10 @@ If you find this repository useful, please consider [citing](#citation) and STAR
--- ---
## Planning ## Planning
* **Prompt2Walk**: "Prompt a Robot to Walk with Large Language Models", *arXiv, Sep 2023*, [[Paper](https://arxiv.org/abs/2309.09969)] [[Website](https://prompt2walk.github.io)] * **Prompt2Walk**: "Prompt a Robot to Walk with Large Language Models", *arXiv, Sept 2023*, [[Paper](https://arxiv.org/abs/2309.09969)] [[Website](https://prompt2walk.github.io)]
* **DoReMi**: "Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment", *arXiv, July 2023*, [[Paper](https://arxiv.org/abs/2307.00329)] [[Website](https://sites.google.com/view/doremi-paper)] * **DoReMi**: "Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment", *arXiv, July 2023*, [[Paper](https://arxiv.org/abs/2307.00329)] [[Website](https://sites.google.com/view/doremi-paper)]
* **Co-LLM-Agents**: "Building Cooperative Embodied Agents Modularly with Large Language Models", *arXiv, Jul 2023*. [[Paper](https://arxiv.org/abs/2307.02485)] [[Code](https://github.com/UMass-Foundation-Model/Co-LLM-Agents)] [[Website](https://vis-www.cs.umass.edu/Co-LLM-Agents/)] * **Co-LLM-Agents**: "Building Cooperative Embodied Agents Modularly with Large Language Models", *arXiv, July 2023*. [[Paper](https://arxiv.org/abs/2307.02485)] [[Code](https://github.com/UMass-Foundation-Model/Co-LLM-Agents)] [[Website](https://vis-www.cs.umass.edu/Co-LLM-Agents/)]
* **LLM-Reward**: "Language to Rewards for Robotic Skill Synthesis", *arXiv, Jun 2023*. [[Paper](https://arxiv.org/abs/2306.08647)] [[Website](https://language-to-reward.github.io/)] * **LLM-Reward**: "Language to Rewards for Robotic Skill Synthesis", *arXiv, June 2023*. [[Paper](https://arxiv.org/abs/2306.08647)] [[Website](https://language-to-reward.github.io/)]
* **GLAM**: "Grounding Large Language Models in Interactive Environments with Online Reinforcement Learning", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2302.02662)] [[Pytorch Code](https://github.com/flowersteam/Grounding_LLMs_with_online_RL)] * **GLAM**: "Grounding Large Language Models in Interactive Environments with Online Reinforcement Learning", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2302.02662)] [[Pytorch Code](https://github.com/flowersteam/Grounding_LLMs_with_online_RL)]
* **LLM-BRAIn**: "LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree based on Large Language Model", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.19352)] * **LLM-BRAIn**: "LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree based on Large Language Model", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.19352)]
* **LLM-MCTS**: "Large Language Models as Commonsense Knowledge for Large-Scale Task Planning", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.14078v1)] * **LLM-MCTS**: "Large Language Models as Commonsense Knowledge for Large-Scale Task Planning", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.14078v1)]
@ -84,10 +84,10 @@ If you find this repository useful, please consider [citing](#citation) and STAR
* **Text2Reward**: "Text2Reward: Automated Dense Reward Function Generation for Reinforcement Learning", *arXiv, Sept 2023*, [[Paper](https://arxiv.org/abs/2309.11489)] [[Website](https://text-to-reward.github.io/)] * **Text2Reward**: "Text2Reward: Automated Dense Reward Function Generation for Reinforcement Learning", *arXiv, Sept 2023*, [[Paper](https://arxiv.org/abs/2309.11489)] [[Website](https://text-to-reward.github.io/)]
* **Scalingup**: "Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition", *arXiv, July 2023*. [[Paper](https://arxiv.org/abs/2307.14535)] [[Code](https://github.com/columbia-ai-robotics/scalingup)] [[Website](https://www.cs.columbia.edu/~huy/scalingup/)] * **Scalingup**: "Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition", *arXiv, July 2023*. [[Paper](https://arxiv.org/abs/2307.14535)] [[Code](https://github.com/columbia-ai-robotics/scalingup)] [[Website](https://www.cs.columbia.edu/~huy/scalingup/)]
* **VoxPoser**:"VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models", *arXiv, July 2023*. [[Paper](https://arxiv.org/abs/2307.05973)] [[Website](https://voxposer.github.io/)] * **VoxPoser**:"VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models", *arXiv, July 2023*. [[Paper](https://arxiv.org/abs/2307.05973)] [[Website](https://voxposer.github.io/)]
* **RoboCat**: "RoboCat: A self-improving robotic agent", *arxiv, Jun 2023*. [[Paper/PDF](https://arxiv.org/abs/2306.11706)] [[Website](https://www.deepmind.com/blog/robocat-a-self-improving-robotic-agent)] * **RoboCat**: "RoboCat: A self-improving robotic agent", *arxiv, June 2023*. [[Paper/PDF](https://arxiv.org/abs/2306.11706)] [[Website](https://www.deepmind.com/blog/robocat-a-self-improving-robotic-agent)]
* **SPRINT**: "SPRINT: Semantic Policy Pre-training via Language Instruction Relabeling", *arXiv, June 2023*. [[Paper](https://arxiv.org/abs/2306.11886)] [[Website](https://clvrai.github.io/sprint/)] * **SPRINT**: "SPRINT: Semantic Policy Pre-training via Language Instruction Relabeling", *arXiv, June 2023*. [[Paper](https://arxiv.org/abs/2306.11886)] [[Website](https://clvrai.github.io/sprint/)]
* "Language Instructed Reinforcement Learning for Human-AI Coordination", *arXiv, Jun 2023*. [[Paper](https://arxiv.org/pdf/2304.07297)] * "Language Instructed Reinforcement Learning for Human-AI Coordination", *arXiv, June 2023*. [[Paper](https://arxiv.org/pdf/2304.07297)]
* **LIV**: "LIV: Language-Image Representations and Rewards for Robotic Control", *arXiv, Jun 2023*, [[Paper](https://arxiv.org/abs/2306.00958)] [[Pytorch Code](https://github.com/penn-pal-lab/LIV)] [[Website](https://penn-pal-lab.github.io/LIV/)] * **LIV**: "LIV: Language-Image Representations and Rewards for Robotic Control", *arXiv, June 2023*, [[Paper](https://arxiv.org/abs/2306.00958)] [[Pytorch Code](https://github.com/penn-pal-lab/LIV)] [[Website](https://penn-pal-lab.github.io/LIV/)]
* **VOYAGER**: "VOYAGER: An Open-Ended Embodied Agent with Large Language Models", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.16291)] [[Pytorch Code](https://github.com/MineDojo/Voyager)] [[Website](https://voyager.minedojo.org/)] * **VOYAGER**: "VOYAGER: An Open-Ended Embodied Agent with Large Language Models", *arXiv, May 2023*. [[Paper](https://arxiv.org/abs/2305.16291)] [[Pytorch Code](https://github.com/MineDojo/Voyager)] [[Website](https://voyager.minedojo.org/)]
* **LLM-GROP**: "Task and Motion Planning with Large Language Models for Object Rearrangement", *arXiv, May 2023*. [[Paper](https://arxiv.org/pdf/2303.06247)] [[Website](https://sites.google.com/view/llm-grop)] * **LLM-GROP**: "Task and Motion Planning with Large Language Models for Object Rearrangement", *arXiv, May 2023*. [[Paper](https://arxiv.org/pdf/2303.06247)] [[Website](https://sites.google.com/view/llm-grop)]
* **ProgramPort**:"Programmatically Grounded, Compositionally Generalizable Robotic Manipulation", *ICLR, Apr 2023*, [[Paper](https://arxiv.org/abs/2304.13826)] [[Website] (https://progport.github.io/)] * **ProgramPort**:"Programmatically Grounded, Compositionally Generalizable Robotic Manipulation", *ICLR, Apr 2023*, [[Paper](https://arxiv.org/abs/2304.13826)] [[Website] (https://progport.github.io/)]
@ -103,10 +103,10 @@ If you find this repository useful, please consider [citing](#citation) and STAR
* **DIAL**: "Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models", *arXiv, Nov 2022*, [[Paper](https://arxiv.org/abs/2211.11736)] [[Website](https://instructionaugmentation.github.io/)] * **DIAL**: "Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models", *arXiv, Nov 2022*, [[Paper](https://arxiv.org/abs/2211.11736)] [[Website](https://instructionaugmentation.github.io/)]
* **CLIP-Fields**: "CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory", *arXiv, Oct 2022*, [[Paper](https://arxiv.org/abs/2210.05663)] [[PyTorch Code](https://github.com/notmahi/clip-fields)] [[Website](https://mahis.life/clip-fields/)] * **CLIP-Fields**: "CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory", *arXiv, Oct 2022*, [[Paper](https://arxiv.org/abs/2210.05663)] [[PyTorch Code](https://github.com/notmahi/clip-fields)] [[Website](https://mahis.life/clip-fields/)]
* **VIMA**: "VIMA: General Robot Manipulation with Multimodal Prompts", *arXiv, Oct 2022*, [[Paper](https://arxiv.org/abs/2210.03094)] [[Pytorch Code](https://github.com/vimalabs/VIMA)] [[Website](https://vimalabs.github.io/)] * **VIMA**: "VIMA: General Robot Manipulation with Multimodal Prompts", *arXiv, Oct 2022*, [[Paper](https://arxiv.org/abs/2210.03094)] [[Pytorch Code](https://github.com/vimalabs/VIMA)] [[Website](https://vimalabs.github.io/)]
* **Perceiver-Actor**:"A Multi-Task Transformer for Robotic Manipulation", *CoRL, Sep 2022*. [[Paper](https://arxiv.org/abs/2209.05451)] [[Pytorch Code](https://github.com/peract/peract)] [[Website](https://peract.github.io/)] * **Perceiver-Actor**:"A Multi-Task Transformer for Robotic Manipulation", *CoRL, Sept 2022*. [[Paper](https://arxiv.org/abs/2209.05451)] [[Pytorch Code](https://github.com/peract/peract)] [[Website](https://peract.github.io/)]
* **LaTTe**: "LaTTe: Language Trajectory TransformEr", *arXiv, Aug 2022*. [[Paper](https://arxiv.org/abs/2208.02918)] [[TensorFlow Code](https://github.com/arthurfenderbucker/NL_trajectory_reshaper)] [[Website](https://www.microsoft.com/en-us/research/group/autonomous-systems-group-robotics/articles/robot-language/)] * **LaTTe**: "LaTTe: Language Trajectory TransformEr", *arXiv, Aug 2022*. [[Paper](https://arxiv.org/abs/2208.02918)] [[TensorFlow Code](https://github.com/arthurfenderbucker/NL_trajectory_reshaper)] [[Website](https://www.microsoft.com/en-us/research/group/autonomous-systems-group-robotics/articles/robot-language/)]
* **Robots Enact Malignant Stereotypes**: "Robots Enact Malignant Stereotypes", *FAccT, Jun 2022*. [[Paper](https://arxiv.org/abs/2207.11569)] [[Pytorch Code](https://github.com/ahundt/RobotsEnactMalignantStereotypes)] [[Website](https://sites.google.com/view/robots-enact-stereotypes/home)] [[Washington Post](https://www.washingtonpost.com/technology/2022/07/16/racist-robots-ai/)] [[Wired](https://www.wired.com/story/how-to-stop-robots-becoming-racist/)] (code access on request) * **Robots Enact Malignant Stereotypes**: "Robots Enact Malignant Stereotypes", *FAccT, June 2022*. [[Paper](https://arxiv.org/abs/2207.11569)] [[Pytorch Code](https://github.com/ahundt/RobotsEnactMalignantStereotypes)] [[Website](https://sites.google.com/view/robots-enact-stereotypes/home)] [[Washington Post](https://www.washingtonpost.com/technology/2022/07/16/racist-robots-ai/)] [[Wired](https://www.wired.com/story/how-to-stop-robots-becoming-racist/)] (code access on request)
* **ATLA**: "Leveraging Language for Accelerated Learning of Tool Manipulation", *CoRL, Jun 2022*. [[Paper](https://arxiv.org/abs/2206.13074)] * **ATLA**: "Leveraging Language for Accelerated Learning of Tool Manipulation", *CoRL, June 2022*. [[Paper](https://arxiv.org/abs/2206.13074)]
* **ZeST**: "Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?", *L4DC, Apr 2022*. [[Paper](https://arxiv.org/abs/2204.11134)] * **ZeST**: "Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?", *L4DC, Apr 2022*. [[Paper](https://arxiv.org/abs/2204.11134)]
* **LSE-NGU**: "Semantic Exploration from Language Abstractions and Pretrained Representations", *arXiv, Apr 2022*. [[Paper](https://arxiv.org/abs/2204.05080)] * **LSE-NGU**: "Semantic Exploration from Language Abstractions and Pretrained Representations", *arXiv, Apr 2022*. [[Paper](https://arxiv.org/abs/2204.05080)]
* **MetaMorph**: "METAMORPH: LEARNING UNIVERSAL CONTROLLERS WITH TRANSFORMERS", *arxiv, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.11931)] * **MetaMorph**: "METAMORPH: LEARNING UNIVERSAL CONTROLLERS WITH TRANSFORMERS", *arxiv, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.11931)]
@ -123,18 +123,18 @@ If you find this repository useful, please consider [citing](#citation) and STAR
* **ADAPT**: "ADAPT: Vision-Language Navigation with Modality-Aligned Action Prompts", *CVPR, May 2022*. [[Paper](https://arxiv.org/abs/2205.15509)] * **ADAPT**: "ADAPT: Vision-Language Navigation with Modality-Aligned Action Prompts", *CVPR, May 2022*. [[Paper](https://arxiv.org/abs/2205.15509)]
* "The Unsurprising Effectiveness of Pre-Trained Vision Models for Control", *ICML, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.03580)] [[Pytorch Code](https://github.com/sparisi/pvr_habitat)] [[Website](https://sites.google.com/view/pvr-control)] * "The Unsurprising Effectiveness of Pre-Trained Vision Models for Control", *ICML, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.03580)] [[Pytorch Code](https://github.com/sparisi/pvr_habitat)] [[Website](https://sites.google.com/view/pvr-control)]
* **CoW**: "CLIP on Wheels: Zero-Shot Object Navigation as Object Localization and Exploration", *arXiv, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.10421)] * **CoW**: "CLIP on Wheels: Zero-Shot Object Navigation as Object Localization and Exploration", *arXiv, Mar 2022*. [[Paper](https://arxiv.org/abs/2203.10421)]
* **Recurrent VLN-BERT**: "A Recurrent Vision-and-Language BERT for Navigation", *CVPR, Jun 2021* [[Paper](https://arxiv.org/abs/2011.13922)] [[Pytorch Code](https://github.com/YicongHong/Recurrent-VLN-BERT)] * **Recurrent VLN-BERT**: "A Recurrent Vision-and-Language BERT for Navigation", *CVPR, June 2021* [[Paper](https://arxiv.org/abs/2011.13922)] [[Pytorch Code](https://github.com/YicongHong/Recurrent-VLN-BERT)]
* **VLN-BERT**: "Improving Vision-and-Language Navigation with Image-Text Pairs from the Web", *ECCV, Apr 2020* [[Paper](https://arxiv.org/abs/2004.14973)] [[Pytorch Code](https://github.com/arjunmajum/vln-bert)] * **VLN-BERT**: "Improving Vision-and-Language Navigation with Image-Text Pairs from the Web", *ECCV, Apr 2020* [[Paper](https://arxiv.org/abs/2004.14973)] [[Pytorch Code](https://github.com/arjunmajum/vln-bert)]
--- ---
## Simulation Frameworks ## Simulation Frameworks
* **MineDojo**: "MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge", *arXiv, Jun 2022*. [[Paper](https://arxiv.org/abs/2206.08853)] [[Code](https://github.com/MineDojo/MineDojo)] [[Website](https://minedojo.org/)] [[Open Database](https://minedojo.org/knowledge_base.html)] * **MineDojo**: "MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge", *arXiv, June 2022*. [[Paper](https://arxiv.org/abs/2206.08853)] [[Code](https://github.com/MineDojo/MineDojo)] [[Website](https://minedojo.org/)] [[Open Database](https://minedojo.org/knowledge_base.html)]
* **Habitat 2.0**: "Habitat 2.0: Training Home Assistants to Rearrange their Habitat", *NeurIPS, Dec 2021*. [[Paper](https://arxiv.org/abs/2106.14405)] [[Code](https://github.com/facebookresearch/habitat-sim)] [[Website](https://aihabitat.org/)] * **Habitat 2.0**: "Habitat 2.0: Training Home Assistants to Rearrange their Habitat", *NeurIPS, Dec 2021*. [[Paper](https://arxiv.org/abs/2106.14405)] [[Code](https://github.com/facebookresearch/habitat-sim)] [[Website](https://aihabitat.org/)]
* **BEHAVIOR**: "BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments", *CoRL, Nov 2021*. [[Paper](https://arxiv.org/abs/2108.03332)] [[Code](https://github.com/StanfordVL/behavior)] [[Website](https://behavior.stanford.edu/)] * **BEHAVIOR**: "BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments", *CoRL, Nov 2021*. [[Paper](https://arxiv.org/abs/2108.03332)] [[Code](https://github.com/StanfordVL/behavior)] [[Website](https://behavior.stanford.edu/)]
* **iGibson 1.0**: "iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes", *IROS, Sep 2021*. [[Paper](https://arxiv.org/abs/2012.02924)] [[Code](https://github.com/StanfordVL/iGibson)] [[Website](https://svl.stanford.edu/igibson/)] * **iGibson 1.0**: "iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes", *IROS, Sept 2021*. [[Paper](https://arxiv.org/abs/2012.02924)] [[Code](https://github.com/StanfordVL/iGibson)] [[Website](https://svl.stanford.edu/igibson/)]
* **ALFRED**: "ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks", *CVPR, Jun 2020*. [[Paper](https://arxiv.org/abs/1912.01734)] [[Code](https://github.com/askforalfred/alfred)] [[Website](https://askforalfred.com/)] * **ALFRED**: "ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks", *CVPR, June 2020*. [[Paper](https://arxiv.org/abs/1912.01734)] [[Code](https://github.com/askforalfred/alfred)] [[Website](https://askforalfred.com/)]
* **BabyAI**: "BabyAI: A Platform to Study the Sample Efficiency of Grounded Language Learning", *ICLR, May 2019*. [[Paper](https://openreview.net/pdf?id=rJeXCo0cYX)] [[Code](https://github.com/mila-iqia/babyai/tree/iclr19)] * **BabyAI**: "BabyAI: A Platform to Study the Sample Efficiency of Grounded Language Learning", *ICLR, May 2019*. [[Paper](https://openreview.net/pdf?id=rJeXCo0cYX)] [[Code](https://github.com/mila-iqia/babyai/tree/iclr19)]