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Papers and research

Start from a research question and follow links to the original paper, the authors' project page, and explanations on this site. The first entries cover work related to existing tutorials; topics such as locomotion, perception, and world models will be added over time.

Imitation learning and action generation​

ACT · Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware​

2023 · Bimanual manipulation / imitation learning / action chunking

Studies how low-cost bimanual hardware can learn fine-grained manipulation from demonstrations. ACT predicts a sequence of actions at once and is designed around compounding errors in long-horizon imitation learning.

Diffusion Policy · Visuomotor Policy Learning via Action Diffusion​

2023 · Visuomotor policies / diffusion models / continuous actions

Models robot action generation as a conditional denoising process to represent multimodal action distributions, and combines visual conditioning with receding-horizon execution to generate action sequences.

Vision-language-action models​

OpenVLA · An Open-Source Vision-Language-Action Model​

2024 · VLA / multi-robot data / fine-tuning

Connects a vision-language model to robot action prediction and releases the model and training code, making it easier to study cross-task learning and fine-tuning for new robot settings.

Compiled and sources checked: 2026-09-11.

Last updated on by johnjim0816