Robot Manipulation with GPT-6-Astra: Body Knowledge, Experience Reuse, Emergent Skills, and Sim2Real Transfer
cs.RO, cs.AI, cs.CL, cs.CV, cs.LG
Submitted: 2026-09-24
Updated: 2026-09-24
Code: https://github.com/hesd10/astra-robot-sim2real
Terminology
Sources
- Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
- Inner Monologue: Embodied Reasoning through Planning with Language Models
- Code as Policies: Language Model Programs for Embodied Control
- VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
- PaLM-E: An Embodied Multimodal Language Model
- RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models
- Octo: An Open-Source Generalist Robot Policy
- ReAct: Synergizing Reasoning and Acting in Language Models
- Reflexion: Language Agents with Verbal Reinforcement Learning
- Voyager: An Open-Ended Embodied Agent with Large Language Models
- Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
- Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey
- Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
- Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
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