mlsanityData to 14 Oct 2026

ALOHA Unleashed: A Simple Recipe for Robot Dexterity

arXiv 2410.13126 ↗First posted 17 Oct 2024cs.ROcited by 134

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Recent work has shown promising results for learning end-to-end robot policies using imitation learning. In this work we address the question of how far can we push imitation learning for challenging dexterous manipulation tasks. We show that a simple recipe of large scale data collection on the ALOHA 2 platform, combined with expressive models such as Diffusion Policies, can be effective in learning challenging bimanual manipulation tasks involving deformable objects and complex contact rich dynamics. We demonstrate our recipe on 5 challenging real-world and 3 simulated tasks and demonstrate improved performance over state-of-the-art baselines. The project website and videos can be found at aloha-unleashed.github.io.

Key facts. Cited by 134 papers in the map (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. First posted on arXiv 17 Oct 2024.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 13; 2025: 86; 2026: 35.

134 papers.

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  1. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,407
  2. 2025Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Successcited by 883
  3. 2025FAST: Efficient Action Tokenization for Vision-Language-Action Modelscited by 665
  4. 2025Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasetscited by 240
  5. 2025Real-Time Execution of Action Chunking Flow Policiescited by 216
  6. 2025DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Controlcited by 195
  7. 2025Steering Your Diffusion Policy with Latent Space Reinforcement Learningcited by 169
  8. 2025Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Bettercited by 146
  9. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 145
  10. 2025Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Modelcited by 134
  11. 2025ChatVLA: Unified Multimodal Understanding and Robot Control with Vision-Language-Action Modelcited by 113
  12. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 84
38 more
  1. 2025Humanoid Policy ~ Human Policycited by 78
  2. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 68
  3. 2025Training-Time Action Conditioning for Efficient Real-Time Chunkingcited by 64
  4. 2024Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoningcited by 57
  5. 2025Residual Off-Policy RL for Finetuning Behavior Cloning Policiescited by 55
  6. 2025Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policiescited by 52
  7. 2025Evaluating Gemini Robotics Policies in a Veo World Simulatorcited by 51
  8. 2026MolmoAct2: Action Reasoning Models for Real-world Deploymentcited by 50
  9. 2025ChatVLA-2: Vision-Language-Action Model with Open-World Embodied Reasoning from Pretrained Knowledgecited by 49
  10. 2025Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoidscited by 48
  11. 2025DynaGuide: Steering Diffusion Polices with Active Dynamic Guidancecited by 44
  12. 2025Failure Prediction at Runtime for Generative Robot Policiescited by 42
  13. 2024Instant Policy: In-Context Imitation Learning via Graph Diffusioncited by 39
  14. 2025RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correctioncited by 39
  15. 2025VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Modelscited by 36
  16. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstrationcited by 34
  17. 2025EgoZero: Robot Learning from Smart Glassescited by 33
  18. 2025FP3: A 3D Foundation Policy for Robotic Manipulationcited by 32
  19. 2025ZeroMimic: Distilling Robotic Manipulation Skills from Web Videoscited by 32
  20. 2025Self-Improving Embodied Foundation Modelscited by 32
  21. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  22. 2025X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Realcited by 28
  23. 2025Latent Diffusion Planning for Imitation Learningcited by 26
  24. 2025In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Datacited by 26
  25. 2025Distributional Diffusion Models with Scoring Rulescited by 25
  26. 2025VITA: Vision-to-Action Flow Matching Policycited by 25
  27. 2025Dex1B: Learning with 1B Demonstrations for Dexterous Manipulationcited by 24
  28. 2025SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulationcited by 21
  29. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 21
  30. 2025Learning the RoPEs: Better 2D and 3D Position Encodings with STRINGcited by 19
  31. 2024So You Think You Can Scale Up Autonomous Robot Data Collection?cited by 17
  32. 2025Do You Need Proprioceptive States in Visuomotor Policies?cited by 16
  33. 2025IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimationcited by 13
  34. 2025Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixelscited by 13
  35. 2025Guiding Data Collection via Factored Scaling Curvescited by 12
  36. 2025Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformerscited by 11
  37. 2024Data Scaling Laws for Imitation Learning-Based End-to-End Autonomous Drivingcited by 10
  38. 2025BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulationcited by 10

50 most cited of 134 All 134 (JSON)

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  1. 2025Dexterous Manipulation through Imitation Learning: A Survey
  2. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
  3. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation
  4. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning
  5. 2024A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
  6. 2024Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations
  7. 2025Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models
  8. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies