Self-Improving Embodied Foundation Models

Seyed Kamyar Seyed Ghasemipour, Ayzaan Wahid, Jonathan Tompson, Pannag Sanketi, Igor Mordatch, NeurIPS 2025.

Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer

Gemini Robotics Team, 2025.

Robot Data Curation with Mutual Information Estimators

Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag Sanketi, Dhruv Shah, Coline Devin, Dorsa Sadigh, RSS 2025.

Learning the RoPEs: Better 2D and 3D Position Encodings with STRING

Connor Schenck, Isaac Reid, Mithun George Jacob, Alex Bewley, Joshua Ainslie, David Rendleman, Deepali Jain, Mohit Sharma, Avinava Dubey, Ayzaan Wahid, Sumeet Singh, Rene Wagner, Tianli Ding, Chuyuan Fu, Arunkumar Byravan, Jake Varley, Alexey Gritsenko, Matthias Minderer, Dmitry Kalashnikov, Jonathan Tompson, Vikas Sindhwani, Krzysztof Choromanski, Preprint.

Vision Language Models are In-Context Value Learners

Jason Ma, Joey Hejna, Ayzaan Wahid, Chuyuan Fu, Dhruv Shah, Jacky Liang, Zhuo Xu, Sean Kirmani, Peng Xu, Danny Driess, Ted Xiao, Jonathan Tompson, Osbert Bastani, Dinesh Jayaraman, Wenhao Yu, Tingnan Zhang, Dorsa Sadigh, Fei Xia, ICLR 2025. [website]

Vid2robot: End-to-end video-conditioned policy learning with cross-attention transformers

Vidhi Jain, Maria Attarian, Nikhil J Joshi, Ayzaan Wahid, Danny Driess, Quan Vuong, Pannag R Sanketi, Pierre Sermanet, Stefan Welker, Christine Chan, Igor Gilitschenski, Yonatan Bisk, Debidatta Dwibedi, RSS 2024. [website]

PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs

Soroush Nasiriany*, Fei Xia*, Wenhao Yu*, Ted Xiao*, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter, ICML 2024. [website]

Video Language Planning

Yilun Du, Sherry Yang, Pete Florence, Fei Xia, Ayzaan Wahid, Brian Ichter, Pierre Sermanet, Tianhe Yu, Pieter Abbeel, Joshua B. Tenenbaum, Leslie Kaelbling, Andy Zeng, Jonathan Tompson, ICLR 2024. [website]

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration, ICRA 2024. [website]

RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alexander Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich, CoRL 2023. [website]

PaLM-E: An Embodied Multimodal Language Model

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence, ICML 2023. [website]

Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models

Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson, Preprint.

Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations

Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi, ICRA 2023.

Implicit Behavioral Cloning

Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson, CoRL 2021. [website][code]

Learning Object-conditioned Exploration using Distributed Soft Actor Critic

Ayzaan Wahid, Austin Stone, Kevin Chen, Brian Ichter, Alexander Toshev, CoRL 2020.

Transporter Networks: Rearranging the Visual World for Robotic Manipulation

Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Ayzaan Wahid, Vikas Sindhwani, Johnny Lee, CoRL 2020. [website] [code]

Long Range Neural Navigation Policies for the Real World

Ayzaan Wahid, Alexander Toshev, Marek Fiser, Tsang-Wei Edward Lee, IROS 2019.

Visual Representations for Semantic Target Driven Navigation

Arsalan Mousavian, Alexander Toshev, Marek Fiser, Jana Kosecka, Ayzaan Wahid, James Davidson, ICRA 2019.