mlsanityData to 7 Oct 2026

Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias

arXiv 1807.07049 ↗First posted 18 Jul 2018cs.RO cs.AI cs.CVcited by 75

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Abstract (arXiv)

Data-driven approaches to solving robotic tasks have gained a lot of traction in recent years. However, most existing policies are trained on large-scale datasets collected in curated lab settings. If we aim to deploy these models in unstructured visual environments like people's homes, they will be unable to cope with the mismatch in data distribution. In such light, we present the first systematic effort in collecting a large dataset for robotic grasping in homes. First, to scale and parallelize data collection, we built a low cost mobile manipulator assembled for under 3K USD. Second, data collected using low cost robots suffer from noisy labels due to imperfect execution and calibration errors. To handle this, we develop a framework which factors out the noise as a latent variable. Our model is trained on 28K grasps collected in several houses under an array of different environmental conditions. We evaluate our models by physically executing grasps on a collection of novel objects in multiple unseen homes. The models trained with our home dataset showed a marked improvement of 43.7% over a baseline model trained with data collected in lab. Our architecture which explicitly models the latent noise in the dataset also performed 10% better than one that did not factor out the noise. We hope this effort inspires the robotics community to look outside the lab and embrace learning based approaches to handle inaccurate cheap robots.

Key facts. Cited by 75 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Jul 2018.

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Citing papers per year: 2020: 1; 2021: 12; 2022: 19; 2023: 10; 2024: 22; 2025: 8; 2026: 3.

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  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  2. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  3. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  4. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  5. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  6. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  7. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learningcited by 517
  8. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  9. 2024Robotic Control via Embodied Chain-of-Thought Reasoningcited by 340
  10. 2023Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?cited by 215
  11. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  12. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
38 more
  1. 2025VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learningcited by 166
  2. 2022Human-to-Robot Imitation in the Wildcited by 157
  3. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  4. 2021Waypoint Models for Instruction-guided Navigation in Continuous Environmentscited by 125
  5. 2021Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videoscited by 116
  6. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 108
  7. 2021EnD: Entangling and Disentangling deep representations for bias correctioncited by 105
  8. 2025OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoningcited by 105
  9. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  10. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  11. 2023On Bringing Robots Homecited by 101
  12. 2020COG: Connecting New Skills to Past Experience with Offline Reinforcement Learningcited by 83
  13. 2024AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agentscited by 83
  14. 2022Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?cited by 70
  15. 2023OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNavcited by 68
  16. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 63
  17. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 58
  18. 2024VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Modelcited by 55
  19. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  20. 2024FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuningcited by 54
  21. 2022Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fieldscited by 53
  22. 2022VRL3: A Data-Driven Framework for Visual Deep Reinforcement Learningcited by 51
  23. 2021SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policiescited by 42
  24. 2023An Unbiased Look at Datasets for Visuo-Motor Pre-Trainingcited by 41
  25. 2022Unbiased Supervised Contrastive Learningcited by 40
  26. 2024HRP: Human Affordances for Robotic Pre-Trainingcited by 40
  27. 2025MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulationcited by 34
  28. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 33
  29. 2022Is Mapping Necessary for Realistic PointGoal Navigation?cited by 32
  30. 2024Learning Generalizable Feature Fields for Mobile Manipulationcited by 31
  31. 2021Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulationcited by 30
  32. 2022The Utility of Explainable AI in Ad Hoc Human-Machine Teamingcited by 30
  33. 2022Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Taskscited by 24
  34. 2022Phone2Proc: Bringing Robust Robots Into Our Chaotic Worldcited by 24
  35. 2021Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigationcited by 21
  36. 2024RoboUniView: Visual-Language Model with Unified View Representation for Robotic Manipulationcited by 20
  37. 2024Continuously Improving Mobile Manipulation with Autonomous Real-World RLcited by 20
  38. 2022Improving Policy Optimization with Generalist-Specialist Learningcited by 19

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