The proposed workshop focuses on the intersection of machine learning (ML) and robotics, under this year’s focus topic: “Pretraining, Fine-Tuning, and Generalization with Large Scale Models.” Embodied AI and robotics pose unique challenges and opportunities for utilizing large pre-trained models. We seek to host a diverse set of views and approaches from across the robotics domain and dive deep into questions such as: What sources of data can be used for training large models in robotics? What role should pre-training play in robotics pipelines? How far can pre-trained models generalize when faced with novel tasks and environments? What is currently missing to the pre-training paradigm for embodied systems?