mlsanityData to 7 Oct 2026

From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data

arXiv 2210.10047 ↗First posted 18 Oct 2022cs.RO cs.AI cs.CVcited by 103

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Cited by 27 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

While large-scale sequence modeling from offline data has led to impressive performance gains in natural language and image generation, directly translating such ideas to robotics has been challenging. One critical reason for this is that uncurated robot demonstration data, i.e. play data, collected from non-expert human demonstrators are often noisy, diverse, and distributionally multi-modal. This makes extracting useful, task-centric behaviors from such data a difficult generative modeling problem. In this work, we present Conditional Behavior Transformers (C-BeT), a method that combines the multi-modal generation ability of Behavior Transformer with future-conditioned goal specification. On a suite of simulated benchmark tasks, we find that C-BeT improves upon prior state-of-the-art work in learning from play data by an average of 45.7%. Further, we demonstrate for the first time that useful task-centric behaviors can be learned on a real-world robot purely from play data without any task labels or reward information. Robot videos are best viewed on our project website: https://play-to-policy.github.io

Key facts. Cited by 103 papers in the map (data through 7 Oct 2026). Builds on 42 of its 51 references that are in the map. First posted on arXiv 18 Oct 2022.

Builds on

42 of 51 references.

References · 42

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2020Language Models are Few-Shot Learnerscited by 32,199
  3. 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,539
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30 more
  1. 2021Offline Reinforcement Learning as One Big Sequence Modeling Problemcited by 636
  2. 2021Implicit Behavioral Cloningcited by 442
  3. 2018Data-Efficient Hierarchical Reinforcement Learningcited by 436
  4. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learningcited by 380
  5. 2019Learning Latent Plans from Playcited by 310
  6. 2022Behavior Transformers: Cloning k modes with one stonecited by 299
  7. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  8. 2022Contrastive Learning as Goal-Conditioned Reinforcement Learningcited by 241
  9. 2021Offline Reinforcement Learning with Fisher Divergence Critic Regularizationcited by 237
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  16. 2017Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstrationcited by 100
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  19. 2022When does return-conditioned supervised learning work for offline reinforcement learning?cited by 73
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  21. 2022You Can't Count on Luck: Why Decision Transformers and RvS Fail in Stochastic Environmentscited by 62
  22. 2022Retrieval-Augmented Reinforcement Learningcited by 53
  23. 2021Towards More Generalizable One-shot Visual Imitation Learningcited by 48
  24. 2019Maximum Entropy-Regularized Multi-Goal Reinforcement Learningcited by 39
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  26. 2021Provable Representation Learning for Imitation with Contrastive Fourier Featurescited by 34
  27. 2018Many-Goals Reinforcement Learningcited by 22
  28. 2022Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learningcited by 15
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Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 21; 2024: 37; 2025: 28; 2026: 15.

103 papers.

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  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  2. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  3. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  4. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  5. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  6. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  7. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  8. 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representationscited by 278
  9. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  10. 2023A Cookbook of Self-Supervised Learningcited by 248
  11. 2023Goal-Conditioned Imitation Learning using Score-based Diffusion Policiescited by 229
  12. 2025Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasetscited by 218
38 more
  1. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Playcited by 214
  2. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 176
  3. 2024Behavior Generation with Latent Actionscited by 159
  4. 2025Steering Your Diffusion Policy with Latent Space Reinforcement Learningcited by 149
  5. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  6. 2024iVideoGPT: Interactive VideoGPTs are Scalable World Modelscited by 136
  7. 2024Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goalscited by 131
  8. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 108
  9. 2023Policy Representation via Diffusion Probability Model for Reinforcement Learningcited by 105
  10. 2025DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Graspingcited by 87
  11. 2023Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrationscited by 74
  12. 2023Data Quality in Imitation Learningcited by 72
  13. 2024IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AIcited by 68
  14. 2023Imitating Task and Motion Planning with Visuomotor Transformerscited by 63
  15. 2023Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Playcited by 60
  16. 2023Learning Generalizable Manipulation Policies with Object-Centric 3D Representationscited by 60
  17. 2022Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Modelscited by 58
  18. 2025villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Modelscited by 58
  19. 2023Robot Learning with Sensorimotor Pre-trainingcited by 51
  20. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 51
  21. 2025Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Modelscited by 51
  22. 2023PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Playcited by 48
  23. 2025AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Controlcited by 47
  24. 2024Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learningcited by 46
  25. 2024Robot Utility Models: General Policies for Zero-Shot Deployment in New Environmentscited by 43
  26. 2024DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Controlcited by 43
  27. 2025Residual Off-Policy RL for Finetuning Behavior Cloning Policiescited by 42
  28. 2025HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policycited by 42
  29. 2024Diffusion Transformer Policycited by 41
  30. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  31. 2024RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulationcited by 40
  32. 2024Surgical Robot Transformer (SRT): Imitation Learning for Surgical Taskscited by 38
  33. 2023AMAGO: Scalable In-Context Reinforcement Learning for Adaptive Agentscited by 36
  34. 2024Grounding Multimodal Large Language Models in Actionscited by 35
  35. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  36. 2024Diffusion Model Predictive Controlcited by 35
  37. 2023Emergent Agentic Transformer from Chain of Hindsight Experiencecited by 33
  38. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 33

50 most cited of 103 All 103 (JSON)