@article{masteringrobotmanipulationwithmultimodal,
  title = {Mastering Robot Manipulation with Multimodal Prompts through Pretraining and Multi-task Fine-tuning},
  author = {Jiachen Li and Qiaozi Gao and Michael Johnston and Xiaofeng Gao and Xuehai He and Suhaila Shakiah and Hangjie Shi and Reza Ghanadan and William Yang Wang},
  year = {2023},
  eprint = {2310.09676},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.09676v2},
}