# A Generalist Agent

arXiv: https://arxiv.org/abs/2205.06175 · HTML: https://mlsanity.com/paper/2205.06175/

## Key facts

- Cited by 808 papers in the map (data through 14 Oct 2026).
- Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use.
- Builds on 86 of its 105 references that are in the map.
- First posted on arXiv 12 May 2022.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 30 of 86)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Scaling Laws for Neural Language Models](https://mlsanity.com/paper/2001.08361/) (2020)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [Training Compute-Optimal Large Language Models](https://mlsanity.com/paper/2203.15556/) (2022)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [SentencePiece: A simple and language independent subword tokenizer and detokenizer for Neural Text Processing](https://mlsanity.com/paper/1808.06226/) (2018)
- [Identity Mappings in Deep Residual Networks](https://mlsanity.com/paper/1603.05027/) (2016)
- [Transformer-XL: Attentive Language Models Beyond a Fixed-Length Context](https://mlsanity.com/paper/1901.02860/) (2019)
- [GLU Variants Improve Transformer](https://mlsanity.com/paper/2002.05202/) (2020)
- [WebGPT: Browser-assisted question-answering with human feedback](https://mlsanity.com/paper/2112.09332/) (2021)
- [WaveNet: A Generative Model for Raw Audio](https://mlsanity.com/paper/1609.03499/) (2016)
- [Concrete Problems in AI Safety](https://mlsanity.com/paper/1606.06565/) (2016)
- [Decision Transformer: Reinforcement Learning via Sequence Modeling](https://mlsanity.com/paper/2106.01345/) (2021)
- [Group Normalization](https://mlsanity.com/paper/1803.08494/) (2018)
- [Multitask Prompted Training Enables Zero-Shot Task Generalization](https://mlsanity.com/paper/2110.08207/) (2021)

## Built on by (most cited first, 30 of 808)

- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [AgentBench: Evaluating LLMs as Agents](https://mlsanity.com/paper/2308.03688/) (2023)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [Learning Universal Policies via Text-Guided Video Generation](https://mlsanity.com/paper/2302.00111/) (2023)
- [Visual Programming: Compositional visual reasoning without training](https://mlsanity.com/paper/2211.11559/) (2022)
- [TD-MPC2: Scalable, Robust World Models for Continuous Control](https://mlsanity.com/paper/2310.16828/) (2023)
- [VisionLLM: Large Language Model is also an Open-Ended Decoder for Vision-Centric Tasks](https://mlsanity.com/paper/2305.11175/) (2023)
- [Evaluating Real-World Robot Manipulation Policies in Simulation](https://mlsanity.com/paper/2405.05941/) (2024)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [Unified-IO: A Unified Model for Vision, Language, and Multi-Modal Tasks](https://mlsanity.com/paper/2206.08916/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [Language Models can Solve Computer Tasks](https://mlsanity.com/paper/2303.17491/) (2023)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos](https://mlsanity.com/paper/2206.11795/) (2022)
- [AgentBoard: An Analytical Evaluation Board of Multi-turn LLM Agents](https://mlsanity.com/paper/2401.13178/) (2024)
- [ClimaX: A foundation model for weather and climate](https://mlsanity.com/paper/2301.10343/) (2023)
- [TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies](https://mlsanity.com/paper/2412.10345/) (2024)
- [Tool Learning with Foundation Models](https://mlsanity.com/paper/2304.08354/) (2023)
- [Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Action](https://mlsanity.com/paper/2312.17172/) (2023)

## Abstract (arXiv)

Inspired by progress in large-scale language modeling, we apply a similar approach towards building a single generalist agent beyond the realm of text outputs. The agent, which we refer to as Gato, works as a multi-modal, multi-task, multi-embodiment generalist policy. The same network with the same weights can play Atari, caption images, chat, stack blocks with a real robot arm and much more, deciding based on its context whether to output text, joint torques, button presses, or other tokens. In this report we describe the model and the data, and document the current capabilities of Gato.