RESEARCH PAPERYear 2023

RT-1: Robotics Transformer for Real-World Control at Scale

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Anthony Brohan; Noah Brown; Justice Carbajal; Yevgen Chebotar; Joseph Dabis; Chelsea Finn; Keerthana Gopalakrishnan; Karol Hausman; Alexander Herzog; Jasmine Hsu; Julian Ibarz; Brian Ichter; Alex Irpan; Tomas Jackson; Sally Jesmonth; Nikhil J. Joshi; Ryan Julian; Dmitry Kalashnikov; Yuheng Kuang; Isabel Leal; Kuang-Huei Lee; Sergey Levine; Yao Lu; Utsav Malla; Deeksha Manjunath; Igor Mordatch; Ofir Nachum; Carolina Parada; Jodilyn Peralta; Emily Perez; Karl Pertsch; Jornell Quiambao; Kanishka Rao; Michael S. Ryoo; Grecia Salazar; Pannag R. Sanketi; Kevin Sayed; Jaspiar Singh; Sumedh Sontakke; Austin Stone; Clayton Tan; Huong T. Tran; Vincent Vanhoucke; Steve Vega; Quan Vuong; Fei Xia; Ted Xiao; Peng Xu; Sichun Xu; Tianhe Yu; Brianna Zitkovich

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Classification

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Major category: VLA
Quadrant: Not applicable
Architecture: One Model
Prediction paradigm: Not applicable
Subcategories: Discrete-action VLA
Source review status: Verified from primary sources

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BibTeX

@inproceedings{rt1,
  author       = {Anthony Brohan and
                  Noah Brown and
                  Justice Carbajal and
                  Yevgen Chebotar and
                  Joseph Dabis and
                  Chelsea Finn and
                  Keerthana Gopalakrishnan and
                  Karol Hausman and
                  Alexander Herzog and
                  Jasmine Hsu and
                  Julian Ibarz and
                  Brian Ichter and
                  Alex Irpan and
                  Tomas Jackson and
                  Sally Jesmonth and
                  Nikhil J. Joshi and
                  Ryan Julian and
                  Dmitry Kalashnikov and
                  Yuheng Kuang and
                  Isabel Leal and
                  Kuang{-}Huei Lee and
                  Sergey Levine and
                  Yao Lu and
                  Utsav Malla and
                  Deeksha Manjunath and
                  Igor Mordatch and
                  Ofir Nachum and
                  Carolina Parada and
                  Jodilyn Peralta and
                  Emily Perez and
                  Karl Pertsch and
                  Jornell Quiambao and
                  Kanishka Rao and
                  Michael S. Ryoo and
                  Grecia Salazar and
                  Pannag R. Sanketi and
                  Kevin Sayed and
                  Jaspiar Singh and
                  Sumedh Sontakke and
                  Austin Stone and
                  Clayton Tan and
                  Huong T. Tran and
                  Vincent Vanhoucke and
                  Steve Vega and
                  Quan Vuong and
                  Fei Xia and
                  Ted Xiao and
                  Peng Xu and
                  Sichun Xu and
                  Tianhe Yu and
                  Brianna Zitkovich},
  title        = {{RT-1:} Robotics Transformer for Real-World Control at Scale},
  booktitle    = {RSS},
  year         = {2023},

}

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