HABIT is a large-scale robot demonstration dataset for human-present environments that elicits spatiotemporal synchronization, yielding, and gesture grounding behaviors absent from robot-only training data.
super hub Mixed citations
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
Mixed citation behavior. Most common role is background (66%).
338
Pith papers citing it
Background
66% of classified citations
abstract
General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. The vision-language module (System 2) interprets the environment through vision and language instructions. The subsequent diffusion transformer module (System 1) generates fluid motor actions in real time. Both modules are tightly coupled and jointly trained end-to-end. We train GR00T N1 with a heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets. We show that our generalist robot model GR00T N1 outperforms the state-of-the-art imitation learning baselines on standard simulation benchmarks across multiple robot embodiments. Furthermore, we deploy our model on the Fourier GR-1 humanoid robot for language-conditioned bimanual manipulation tasks, achieving strong performance with high data efficiency.
hub tools
citation-role summary
background 63
baseline 18
method 7
other 1
citation-polarity summary
claims ledger
- abstract General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. The vision-lang
authors
co-cited works
representative citing papers
FlowHijack is the first dynamics-aware backdoor attack on flow-matching VLAs that achieves high success rates with stealthy triggers while preserving benign performance and making malicious actions kinematically indistinguishable from normal ones.
Embodied.cpp introduces a portable C++ inference runtime with modular layers for deploying VLA and WAM models on heterogeneous robots, reporting 100% and 91% task success on two models plus memory reduction on a WAM benchmark.
LongEgoRefer is a new benchmark of 1,498 referring expressions in 45-minute average egocentric videos that exposes the failure of existing Video REC models on sparse long-form spatio-temporal grounding.
SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
VLA models from VLM adaptation can be pruned 12-30% via multi-module joint scheme based on divergence signals while keeping ~90% performance on LIBERO without post-pruning recovery, unlike standard criteria that collapse.
LIBERO-Safety supplies a scalable benchmark, data-generation pipeline, and 19,664-demonstration dataset that exposes a generalization-safety tension in current VLA models where diverse training improves collision avoidance but task success stays limited by trajectory quality and semantic understandi
Flow Reversal Steering steers flow matching generalist policies by reversing suboptimal actions to nearby better modes, enabling improved zero-shot control, quick distillation, and RL bootstrapping in robotic manipulation.
FTP-1 is the first foundation tactile policy pretrained on ~3000 hours of data from 26 sources across 21 sensors that improves performance on seen setups by 17.2% and transfers to unseen sensors with 31% success rate gain.
A prompt-only attack called command-preserving trajectory redirection can steer VLA robot behavior to attacker-chosen physical outcomes while the text still appears to match the intended task.
Ambient Diffusion Policy enables better imitation learning from suboptimal robot data by leveraging spectral properties to restrict data usage to specific diffusion times.
Self-distillation from a caption-conditioned video diffusion model to an image-and-prompt-conditioned executor, enhanced by RL from VLM feedback, enables task solving in world models.
X-Tokenizer creates semantic action tokens via asymmetric residual quantization and contrastive pretraining on large trajectory data, outperforming prior methods like FAST on robotic tasks.
ActProbe is an action-space detector that uses temporal consistency error and action chunk magnitude from policy outputs, mapped via LSTM-MLP, to predict failures earlier than baselines across policies and real-robot tasks.
ActionMap introduces a voxel heatmap action head for VLA models that improves policy learning by exploiting geometric structure in the action space.
VSTAT benchmark shows state-of-the-art MLLMs perform far below humans and only modestly above answer-prior baselines on visual state tracking, failing at visual perception despite correct textual reasoning.
RoboTrustBench evaluates seven video world models on trustworthiness using four scenarios, six dimensions, and 13 criteria, finding gaps in constraint reasoning and unsafe instruction handling.
VLMs exhibit consistent vertical-distance entanglement in embeddings from perspective bias in natural images, producing accuracy gaps that a new synthetic benchmark SpatialTunnel exposes as model-intrinsic.
PhAIL provides an open benchmark and distributional evaluation method for real-robot VLA policies using time-to-success CDF, HRT scoring, and KS significance tests.
MiraBench defines action-conditioned reliability via three levels (physics adherence, action-following fidelity, optimism bias detection) and applies it to 12 model configurations using a 16,000-judgment human corpus, finding visual fidelity a poor proxy for action fidelity, no reliable scale benefi
CoP tactile representation with differentiable calibration enables zero-shot sim-to-real transfer and outperforms binary and raw-taxel baselines on peg-in-hole insertion and ball balancing with a multi-fingered hand.
Omega-QVLA is a post-training quantization framework achieving uniform W4A4 for VLA models' LLM backbone and DiT action head via composite SVD-Hadamard rotation and per-step scaling, matching FP16 success rates on LIBERO.
GesVLA encodes gesture features directly into the latent space of VLA models using a dual-VLM architecture and a rendering-based data pipeline, yielding improved target grounding in real robotic tasks.
AutoScale is a closed-loop data engine using Graph-RAE for scene representation and Cluster-GA for importance-based retrieval to improve real-synthetic co-training for autonomous driving.
citing papers explorer
-
MiraBench: Evaluating Action-Conditioned Reliability in Robotic World Models
MiraBench defines action-conditioned reliability via three levels (physics adherence, action-following fidelity, optimism bias detection) and applies it to 12 model configurations using a 16,000-judgment human corpus, finding visual fidelity a poor proxy for action fidelity, no reliable scale benefi
-
LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models
LoopVLA adds recurrent refinement and learned sufficiency estimation to VLA models, cutting parameters 45% and raising throughput 1.7x while matching baseline task success on LIBERO and VLA-Arena.
-
Using large language models for embodied planning introduces systematic safety risks
LLM planners for robots often produce dangerous plans even when planning succeeds, with safety awareness staying flat as model scale improves planning ability.
-
[Emerging Ideas] Artificial Tripartite Intelligence: A Bio-Inspired, Sensor-First Architecture for Physical AI
ATI is a tripartite bio-inspired architecture for physical AI that co-designs sensing and inference, shown in a camera prototype to raise accuracy from 53.8% to 88% and cut remote invocations by 43.3%.
-
RL-VLA$^3$: A Flexible and Asynchronous Reinforcement Learning Framework for VLA Training
RL-VLA³ is an asynchronous RL framework for VLA training that delivers up to 85.2% higher throughput than synchronous baselines while preserving identical sample efficiency and scaling to 256 GPUs.
-
Long-term Traffic Simulation via Structured Autoregressive Modeling
RosettaSim adapts frozen LLMs via structured autoregressive modeling of scene topology and agent states to reach SOTA short- and long-term traffic simulation on WOSAC, paired with RTE evaluation that correlates better with human-like fidelity.
-
AEGIS: A Backup Reflex for Physical AI
AEGIS uses activation probes for early-warning detection of high-risk steps in weak policies and selectively escalates to stronger policies, recovering 10.1% of lost trajectories on LIBERO-Spatial while activating the strong policy on only 38% of steps.
-
D-VLA: A High-Concurrency Distributed Asynchronous Reinforcement Learning Framework for Vision-Language-Action Models
D-VLA uses plane decoupling and a swimlane pipeline to deliver higher throughput and linear speedup than prior RL frameworks when training billion- and trillion-parameter VLA models on benchmarks like LIBERO.
-
PRTS: A Primitive Reasoning and Tasking System via Contrastive Representations
PRTS pretrains VLA models with contrastive goal-conditioned RL to embed goal-reachability probabilities from offline data, yielding SOTA results on robotic benchmarks especially for long-horizon and novel instructions.
-
Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
Single-stage fine-tuning of a video model to generate actions as latent frames plus future states and values yields state-of-the-art robot policy performance on LIBERO, RoboCasa, and bimanual tasks.
-
vla-eval: A Unified Evaluation Harness for Vision-Language-Action Models
vla-eval decouples VLA model inference from benchmark execution via WebSocket and Docker, supporting 14 benchmarks with up to 47x speedup and reproducing published scores across six codebases.