---
title: "Pieter Abbeel — all works — Elamur Research"
description: "All 95 works of Pieter Abbeel in the Elamur Research library, the most cited first: our summaries where we have them, else the original."
canonical: "https://research.elamur.ai/free/en/authors/pieter-abbeel/works/"
---
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# Pieter Abbeel — all works

95 works · [← Pieter Abbeel](https://md.research.elamur.ai/free/en/authors/pieter-abbeel/)

1. [**Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks arXiv:1703.03400**Chelsea Finn, Pieter Abbeel, Sergey Levine*2017 · 6,549 citations*](https://md.research.elamur.ai/free/en/papers/finn-2017-model-agnostic-meta-learning-fast/)
2. **[Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World ↗](https://arxiv.org/abs/1703.06907) arXiv:1703.06907 · no summary yet**Josh Tobin et al.*2017 · 3,092 citations*
3. **[Trust Region Policy Optimization ↗](https://arxiv.org/abs/1502.05477) arXiv:1502.05477 · no summary yet**John Schulman et al.*2015 · 3,015 citations*
4. **[High-Dimensional Continuous Control Using Generalized Advantage Estimation ↗](https://arxiv.org/abs/1506.02438) arXiv:1506.02438 · no summary yet**John Schulman et al.*2015 · 1,867 citations*
5. **[End-to-End Training of Deep Visuomotor Policies ↗](https://arxiv.org/abs/1504.00702) arXiv:1504.00702 · no summary yet**Sergey Levine et al.*2015 · 1,463 citations*
6. **[Bottleneck Transformers for Visual Recognition ↗](https://doi.org/10.1109/cvpr46437.2021.01625) IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · no summary yet**Aravind Srinivas et al.*2021 · 1,310 citations*
7. **[InfoGAN: Interpretable Representation Learning by Information Maximizing Generative Adversarial Nets ↗](https://arxiv.org/abs/1606.03657) arXiv (Cornell University) · no summary yet**Chen, Xi et al.*2016 · 1,285 citations*
8. **[Benchmarking Deep Reinforcement Learning for Continuous Control ↗](https://arxiv.org/abs/1604.06778) arXiv:1604.06778 · no summary yet**Yan Duan et al.*2016 · 967 citations*
9. **[Overcoming Exploration in Reinforcement Learning with Demonstrations ↗](https://doi.org/10.1109/icra.2018.8463162) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Ashvin Nair et al.*2018 · 708 citations*
10. [**RL²: Fast Reinforcement Learning via Slow Reinforcement Learning arXiv:1611.02779**Yan Duan, John Schulman, Xi Chen, et al.*2016 · 524 citations*](https://md.research.elamur.ai/free/en/papers/duan-2016-rl-2-fast-reinforcement-learning/)
11. **[VIME: Variational Information Maximizing Exploration ↗](https://arxiv.org/abs/1605.09674) arXiv:1605.09674 · no summary yet**Rein Houthooft et al.*2016 · 518 citations*
12. **[Value Iteration Networks ↗](https://arxiv.org/abs/1602.02867) arXiv:1602.02867 · Advances in Neural Information Processing Systems 29 pages 2154–2162, 2016 · no summary yet**Aviv Tamar et al.*2016 · 489 citations*
13. **[Putting NeRF on a Diet: Semantically Consistent Few-Shot View Synthesis ↗](https://doi.org/10.1109/iccv48922.2021.00583) IEEE/CVF International Conference on Computer Vision (ICCV) · no summary yet**Ajay Jain, Matthew Tancik, Pieter Abbeel*2021 · 485 citations*
14. **[Deep Spatial Autoencoders for Visuomotor Learning ↗](https://arxiv.org/abs/1509.06113) arXiv:1509.06113 · no summary yet**Chelsea Finn et al.*2015 · 461 citations*
15. [**Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents arXiv:2201.07207**Wenlong Huang, Pieter Abbeel, Deepak Pathak, et al.*2022 · 443 citations*](https://md.research.elamur.ai/free/en/papers/huang-2022-language-models-zero-shot-planners/)
16. **[Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization ↗](https://doi.org/10.15607/rss.2013.ix.031) no summary yet**John Schulman et al.*2013 · 437 citations*
17. [**Hindsight Experience Replay arXiv:1707.01495**Marcin Andrychowicz, Filip Wolski, Alex Ray, et al.*2017 · 421 citations*](https://md.research.elamur.ai/free/en/papers/andrychowicz-2017-hindsight-experience-replay/)
18. **[Zero-Shot Text-Guided Object Generation with Dream Fields ↗](https://doi.org/10.1109/cvpr52688.2022.00094) IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · no summary yet**Ajay Jain et al.*2022 · 409 citations*
19. **[Managing extreme AI risks amid rapid progress ↗](https://doi.org/10.1126/science.adn0117) Science · no summary yet**Yoshua Bengio et al.*2024 · 382 citations*
20. **[Asymmetric Actor Critic for Image-Based Robot Learning ↗](https://doi.org/10.15607/rss.2018.xiv.008) arXiv:1710.06542 · no summary yet**Lerrel Pinto et al.*2018 · 370 citations*
21. **[Parameter Space Noise for Exploration ↗](https://arxiv.org/abs/1706.01905) arXiv (Cornell University) · no summary yet**Matthias Plappert et al.*2017 · 370 citations*
22. **[Learning modular neural network policies for multi-task and multi-robot transfer ↗](https://doi.org/10.1109/icra.2017.7989250) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Coline Devin et al.*2017 · 328 citations*
23. **[#Exploration: A Study of Count-Based Exploration for Deep Reinforcement Learning ↗](https://arxiv.org/abs/1611.04717) arXiv (Cornell University) · no summary yet**Haoran Tang et al.*2016 · 327 citations*
24. **[Incentivizing Exploration In Reinforcement Learning With Deep Predictive Models ↗](https://arxiv.org/abs/1507.00814) arXiv:1507.00814 · no summary yet**Bradly C. Stadie, Sergey Levine, Pieter Abbeel*2015 · 313 citations*
25. **[Variational Lossy Autoencoder ↗](https://arxiv.org/abs/1611.02731) arXiv (Cornell University) · no summary yet**Xi Chen et al.*2016 · 285 citations*
26. **[A geometric approach to robotic laundry folding ↗](https://doi.org/10.1177/0278364911430417) The International Journal of Robotics Research · no summary yet**Stephen Miller et al.*2011 · 242 citations*
27. **[One-Shot Imitation Learning ↗](https://openalex.org/W2963094133) neural information processing systems · no summary yet**Yan Duan et al.*2017 · 235 citations*
28. **[Exploration and apprenticeship learning in reinforcement learning ↗](https://doi.org/10.1145/1102351.1102352) International Conference on Machine Learning · no summary yet**Pieter Abbeel, Andrew Ng*2005 · 229 citations*
29. **[Benchmarking Model-Based Reinforcement Learning ↗](https://arxiv.org/abs/1907.02057) arXiv (Cornell University) · no summary yet**Tingwu Wang et al.*2019 · 223 citations*
30. **[Gradient Estimation Using Stochastic Computation Graphs ↗](https://arxiv.org/abs/1506.05254) arXiv (Cornell University) · no summary yet**John Schulman et al.*2015 · 216 citations*
31. [**Ring Attention with Blockwise Transformers for Near-Infinite Context arXiv:2310.01889**Hao Liu, Matei Zaharia, Pieter Abbeel*2023 · 212 citations*](https://md.research.elamur.ai/free/en/papers/liu-2023-ring-attention-blockwise-transformers-near/)
32. **[Using inaccurate models in reinforcement learning ↗](https://doi.org/10.1145/1143844.1143845) International Conference on Machine Learning · no summary yet**Pieter Abbeel, Morgan Quigley, Andrew Ng*2006 · 211 citations*
33. **[Deep unsupervised cardinality estimation ↗](https://doi.org/10.14778/3368289.3368294) Proceedings of the VLDB Endowment · no summary yet**Zongheng Yang et al.*2019 · 209 citations*
34. **[Open X-Embodiment: Robotic Learning Datasets and RT-X Models ↗](https://arxiv.org/abs/2310.08864) arXiv:2310.08864 · no summary yet**Embodiment Collaboration et al.*2023 · 204 citations*
35. **[Equivalence Between Policy Gradients and Soft Q-Learning ↗](https://arxiv.org/abs/1704.06440) arXiv (Cornell University) · no summary yet**John Schulman, Chen, Xi, Pieter Abbeel*2017 · 196 citations*
36. [**The False Promise of Imitating Proprietary LLMs arXiv:2305.15717**Arnav Gudibande, Eric Wallace, Charlie Snell, et al.*2023 · 182 citations*](https://md.research.elamur.ai/free/en/papers/gudibande-2023-false-promise-imitating-proprietary-llms/)
37. [**Automatic Goal Generation for Reinforcement Learning Agents arXiv:1705.06366**Carlos Florensa, David Held, Xinyang Geng, et al.*2017 · 181 citations*](https://md.research.elamur.ai/free/en/papers/florensa-2017-automatic-goal-generation-reinforcement-learning/)
38. **[A Berkeley View of Systems Challenges for AI ↗](https://arxiv.org/abs/1712.05855) arXiv (Cornell University) · no summary yet**Ion Gabriel Stoica et al.*2017 · 170 citations*
39. **[Tracking deformable objects with point clouds ↗](https://doi.org/10.1109/icra.2013.6630714) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**John Schulman et al.*2013 · 170 citations*
40. **[Domain Randomization and Generative Models for Robotic Grasping ↗](https://doi.org/10.1109/iros.2018.8593933) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · no summary yet**Joshua Tobin et al.*2018 · 160 citations*
41. **[Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model ↗](https://arxiv.org/abs/1610.03518) arXiv (Cornell University) · no summary yet**Paul F. Christiano et al.*2016 · 159 citations*
42. **[Learning to poke by poking: experiential learning of intuitive physics ↗](https://openalex.org/W2964112890) neural information processing systems · no summary yet**Pulkit Agrawal et al.*2016 · 155 citations*
43. **[Grounding spatial relations for human-robot interaction ↗](https://doi.org/10.1109/iros.2013.6696569) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · no summary yet**Sergio Guadarrama et al.*2013 · 149 citations*
44. **[Population Based Augmentation: Efficient Learning of Augmentation Policy Schedules ↗](https://arxiv.org/abs/1905.05393) arXiv (Cornell University) · no summary yet**Ho, Daniel et al.*2019 · 148 citations*
45. **[Contrastive Code Representation Learning ↗](https://aclanthology.org/2021.emnlp-main.482/) Proceedings of the 2021 Conference on Empirical Methods in Natural Language Processing · no summary yet**Paras Jain et al.*2021 · 147 citations*
46. **[Learning from Demonstrations Through the Use of Non-rigid Registration ↗](https://doi.org/10.1007/978-3-319-28872-7_20) Springer tracts in advanced robotics · no summary yet**John Schulman et al.*2016 · 130 citations*
47. [**Chain of Hindsight Aligns Language Models with Feedback arXiv:2302.02676**Hao Liu, Carmelo Sferrazza, Pieter Abbeel*2023 · 126 citations*](https://md.research.elamur.ai/free/en/papers/liu-2023-chain-hindsight-aligns-language-models/)
48. **[Adapting Deep Visuomotor Representations with Weak Pairwise Constraints ↗](https://doi.org/10.1007/978-3-030-43089-4_44) Springer proceedings in advanced robotics · no summary yet**Eric Tzeng et al.*2015 · 124 citations*
49. **[Frozen Pretrained Transformers as Universal Computation Engines ↗](https://doi.org/10.1609/aaai.v36i7.20729) Proceedings of the AAAI Conference on Artificial Intelligence · no summary yet**Kevin Lu et al.*2022 · 123 citations*
50. **[Meta Learning Shared Hierarchies ↗](https://arxiv.org/abs/1710.09767) arXiv (Cornell University) · no summary yet**Kevin Frans et al.*2017 · 116 citations*
51. **[Model-Based Reinforcement Learning via Meta-Policy Optimization ↗](https://arxiv.org/abs/1809.05214) arXiv (Cornell University) · no summary yet**Ignasi Clavera et al.*2018 · 112 citations*
52. **[Backprop KF: learning discriminative deterministic state estimators ↗](https://openalex.org/W2963714390) neural information processing systems · no summary yet**Tuomas Haarnoja et al.*2016 · 102 citations*
53. [**World Model on Million-Length Video And Language With Blockwise RingAttention arXiv:2402.08268**Hao Liu, Wilson Yan, Matei Zaharia, et al.*2024 · 99 citations*](https://md.research.elamur.ai/free/en/papers/liu-2024-world-model-million-length-video/)
54. **[Checkmate: Breaking the Memory Wall with Optimal Tensor Rematerialization ↗](https://arxiv.org/abs/1910.02653) MLSys 2020 · no summary yet**Paras Jain et al.*2019 · 98 citations*
55. **[Deep Object-Centric Representations for Generalizable Robot Learning ↗](https://doi.org/10.1109/icra.2018.8461196) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Coline Devin et al.*2018 · 95 citations*
56. **[Parametrized shape models for clothing ↗](https://doi.org/10.1109/icra.2011.5980453) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Stephen D. Miller et al.*2011 · 93 citations*
57. **[Foundation Models for Decision Making: Problems, Methods, and Opportunities ↗](https://arxiv.org/abs/2303.04129) arXiv:2303.04129 · no summary yet**Sherry Yang et al.*2023 · 92 citations*
58. **[A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario ↗](https://doi.org/10.1109/iros.2013.6696945) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · no summary yet**John Schulman et al.*2013 · 85 citations*
59. **[Guiding Pretraining in Reinforcement Learning with Large Language Models ↗](https://arxiv.org/abs/2302.06692) arXiv:2302.06692 · no summary yet**Yuqing Du et al.*2023 · 77 citations*
60. **[UCB Exploration via Q-Ensembles ↗](https://arxiv.org/abs/1706.01502) arXiv (Cornell University) · no summary yet**Richard Y. Chen et al.*2017 · 75 citations*
61. **[Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation ↗](https://doi.org/10.1007/978-3-319-16595-0_30) Springer tracts in advanced robotics · no summary yet**Sachin Patil et al.*2015 · 74 citations*
62. **[TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning ↗](https://doi.org/10.1109/icra.2016.7487607) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Adithyavairavan Murali et al.*2016 · 70 citations*
63. **[Real-World Robot Learning with Masked Visual Pre-training ↗](https://arxiv.org/abs/2210.03109) arXiv (Cornell University) · no summary yet**Ilija Radosavovic et al.*2022 · 55 citations*
64. **[Learning Interactive Real-World Simulators ↗](https://arxiv.org/abs/2310.06114) arXiv:2310.06114 · no summary yet**Sherry Yang et al.*2023 · 54 citations*
65. **[Auto-Tuned Sim-to-Real Transfer ↗](https://doi.org/10.1109/icra48506.2021.9562091) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Yuqing Du et al.*2021 · 51 citations*
66. **[Modular Architecture for StarCraft II with Deep Reinforcement Learning ↗](https://doi.org/10.1609/aiide.v14i1.13033) Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment · no summary yet**Dennis M. Lee et al.*2018 · 48 citations*
67. **[Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles ↗](https://doi.org/10.1109/iros.2013.6697176) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · no summary yet**Alex Lee et al.*2013 · 42 citations*
68. **[Tensor Trust: Interpretable Prompt Injection Attacks from an Online Game ↗](https://arxiv.org/abs/2311.01011) arXiv (Cornell University) · no summary yet**Sam Toyer et al.*2023 · 37 citations*
69. **[Perception for the manipulation of socks ↗](https://doi.org/10.1109/iros.2011.6095013) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · no summary yet**Ping Chuan Wang et al.*2011 · 32 citations*
70. **[Gaussian belief space planning with discontinuities in sensing domains ↗](https://doi.org/10.1109/icra.2014.6907816) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Sachin Patil et al.*2014 · 23 citations*
71. **[Grasping and Fixturing as Submodular Coverage Problems ↗](https://doi.org/10.1007/978-3-319-29363-9_32) Springer tracts in advanced robotics · no summary yet**John Schulman, Ken Y. Goldberg, Pieter Abbeel*2016 · 21 citations*
72. **[Learning to Model the World with Language ↗](https://arxiv.org/abs/2308.01399) arXiv (Cornell University) · no summary yet**Jessy Lin et al.*2023 · 19 citations*
73. **[Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization ↗](https://doi.org/10.1109/icra.2014.6907726) Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · no summary yet**Yan Duan et al.*2014 · 19 citations*
74. **[DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos ↗](https://arxiv.org/abs/2602.06949) arXiv (Cornell University) · no summary yet**Shenyuan Gao et al.*2026 · 15 citations*
75. **[Compositional Plan Vectors ↗](https://openalex.org/W2970263828) neural information processing systems · no summary yet**Coline Devin et al.*2019 · 7 citations*
76. **[Visual Imitation Enables Contextual Humanoid Control ↗](https://arxiv.org/abs/2505.03729) arXiv (Cornell University) · no summary yet**Arthur Allshire et al.*2025 · 6 citations*
77. **[Controllable All-Atom Protein Generation with Latent Diffusion ↗](https://doi.org/10.1101/2024.12.02.626353) bioRxiv (Cold Spring Harbor Laboratory) · no summary yet**Amy X. Lu et al.*2024 · 6 citations*
78. **[Programmatic Modeling and Generation of Real-Time Strategic Soccer Environments for Reinforcement Learning ↗](https://doi.org/10.1609/aaai.v36i6.20549) Proceedings of the AAAI Conference on Artificial Intelligence · no summary yet**Abdus Salam Azad et al.*2022 · 5 citations*
79. **[CLUTR: Curriculum Learning via Unsupervised Task Representation Learning ↗](https://arxiv.org/abs/2210.10243) arXiv (Cornell University) · no summary yet**Azad, Abdus Salam et al.*2022 · 4 citations*
80. **[Hierarchical Deep Reinforcement Learning Agent with Counter Self-play on Competitive Games ↗](https://openalex.org/W2908741085) no summary yet**Huazhe Xu et al.*2018 · 4 citations*
81. **[Explaining Reinforcement Learning Policies through Counterfactual Trajectories ↗](https://arxiv.org/abs/2201.12462) arXiv (Cornell University) · no summary yet**Julius Frost et al.*2022 · 3 citations*
82. **[Scenic4RL: Programmatic Modeling and Generation of Reinforcement Learning Environments ↗](https://arxiv.org/abs/2106.10365) arXiv (Cornell University) · no summary yet**Azad, Abdus Salam et al.*2021 · 3 citations*
83. **[Variable Skipping for Autoregressive Range Density Estimation ↗](https://arxiv.org/abs/2007.05572) arXiv (Cornell University) · no summary yet**Eric Liang et al.*2020 · 3 citations*
84. **[T-Rex: Tactile-Reactive Dexterous Manipulation ↗](https://arxiv.org/abs/2606.17055) arXiv (Cornell University) · no summary yet**Dantong Niu et al.*2026 · 1 citation*
85. **[Plan Arithmetic: Compositional Plan Vectors for Multi-Task Control ↗](https://arxiv.org/abs/1910.14033) arXiv (Cornell University) · no summary yet**Coline Devin et al.*2019 · 1 citation*
86. **[Hierarchical Variational Imitation Learning of Control Programs ↗](https://arxiv.org/abs/1912.12612) arXiv (Cornell University) · no summary yet**Roy Fox et al.*2019 · 1 citation*
87. **[Hierarchical Imitation Learning via Variational Inference of Control Programs ↗](https://openalex.org/W2923839120) no summary yet**Roy Fox et al.*2018 · 1 citation*
88. **[A Geometric Approach to Robotic Laundry Folding1 ↗](https://doi.org/10.1016/b978-0-12-800881-2.00017-7) Elsevier eBooks · no summary yet**Stephen Miller et al.*2015 · 1 citation*
89. **[The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio ↗](https://arxiv.org/abs/2507.02864) arXiv (Cornell University) · no summary yet**Renhao Wang et al.*2025*
90. **[Teachable Reinforcement Learning via Advice Distillation ↗](https://arxiv.org/abs/2203.11197) arXiv (Cornell University) · no summary yet**Olivia Watkins et al.*2022*
91. **[Imitation Learning of Hierarchical Programs via Variational Inference ↗](https://openalex.org/W2941932758) International Conference on Machine Learning · no summary yet**Roy Fox et al.*2018*
92. **[DOI: 10.1177/0278364911430417 ↗](https://openalex.org/W7101035992) no summary yet**Stephen Miller et al.*2016*
93. **[End-toend training of deep visuomotor policies. arXiv preprint arXiv:1504.00702 ↗](https://openalex.org/W7095372322) no summary yet**Sergey Levine et al.*2015*
94. **[B120&!5=!C/46/$! ↗](https://openalex.org/W7096551914) no summary yet**Allison Janoch et al.*2013*
95. **[On behalf of: Multimedia Archives ↗](https://openalex.org/W7096957744) no summary yet**Stephen Miller et al.*2011*