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Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner.
Attention is all you need
A Vaswani · 2017
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Domain adaptive imitation learning
Kuno Kim, Yihong Gu, Jiaming Song, Shengjia Zhao, and Stefano Ermon · 2020
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Invariant causal imitation learning for generalizable policies
Ioana Bica, Daniel Jarrett, and Mihaela van der Schaar · 2021
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Token merging: Your vit but faster
Daniel Bolya, Cheng-Yang Fu, Xiaoliang Dai, Peizhao Zhang, Christoph Feichtenhofer, and Judy Hoffman · 2022
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Openflamingo: An open-source framework for training large autoregressive vision-language models
Anas Awadalla, Irena Gao, Josh Gardner, Jack Hessel, Yusuf Hanafy, Wanrong Zhu, Kalyani Marathe, Yonatan Bitton, Samir Gadre, Shiori Sagawa, Jenia Jitsev, Simon Kornblith, Pang Wei Koh, Gabriel Ilharco, Mitchell Wortsman, and Ludwig Schmidt · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
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Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al · 2023
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Qwen-vl: A frontier large vision-language model with versatile abilities
Jinze Bai, Shuai Bai, Shusheng Yang, Shijie Wang, Sinan Tan, Peng Wang, Junyang Lin, Chang Zhou, and Jingren Zhou · 2023
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Vision-language foundation models as effective robot imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, et al · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Pumer: Pruning and merging tokens for efficient vision language models
Qingqing Cao, Bhargavi Paranjape, and Hannaneh Hajishirzi · 2023
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Domain adaptive imitation learning with visual observation
Sungho Choi, Seungyul Han, Woojun Kim, Jongseong Chae, Whiyoung Jung, and Youngchul Sung · 2024
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, et al · 2024
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π 0 \pi_{0} : A vision-language-action flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, and Li Fei-Fei · 2024
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Advancing multimodal large language models with quantization-aware scale learning for efficient adaptation
JingJing Xie, Yuxin Zhang, Mingbao Lin, Liujuan Cao, and Rongrong Ji · 2024
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Llarva: Vision-action instruction tuning enhances robot learning
Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, and Roei Herzig · 2024
Cited alongside, same era.
Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, et al · 2024
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Quantization-aware imitation-learning for resource-efficient robotic control
Seongmin Park, Hyungmin Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, and Jungwook Choi · 2024
Cited alongside, same era.
Deer-vla: Dynamic inference of multimodal large language models for efficient robot execution
Yang Yue, Yulin Wang, Bingyi Kang, Yizeng Han, Shenzhi Wang, Shiji Song, Jiashi Feng, and Gao Huang · 2024
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Gemma 2: Improving open language models at a practical size
Gemma Team, Morgane Riviere, Shreya Pathak, Pier Giuseppe Sessa, Cassidy Hardin, Surya Bhupatiraju, Léonard Hussenot, Thomas Mesnard, Bobak Shahriari, Alexandre Ramé, et al · 2024
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Libero: Benchmarking knowledge transfer for lifelong robot learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2024
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Mope-clip: Structured pruning for efficient vision-language models with module-wise pruning error metric
Haokun Lin, Haoli Bai, Zhili Liu, Lu Hou, Muyi Sun, Linqi Song, Ying Wei, and Zhenan Sun · 2024
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Sparsevlm: Visual token sparsification for efficient vision-language model inference
Yuan Zhang, Chun-Kai Fan, Junpeng Ma, Wenzhao Zheng, Tao Huang, Kuan Cheng, Denis Gudovskiy, Tomoyuki Okuno, Yohei Nakata, Kurt Keutzer, et al · 2024
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Madtp: Multimodal alignment-guided dynamic token pruning for accelerating vision-language transformer
Jianjian Cao, Peng Ye, Shengze Li, Chong Yu, Yansong Tang, Jiwen Lu, and Tao Chen · 2024
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Robomamba: Multimodal state space model for efficient robot reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Lily Lee, Kaichen Zhou, Pengju An, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 2024
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Hirt: Enhancing robotic control with hierarchical robot transformers
Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, and Jianyu Chen · 2024
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Yunyang Xiong, Chong Zhou, Xiaoyu Xiang, Lemeng Wu, Chenchen Zhu, Zechun Liu, Saksham Suri, Balakrishnan Varadarajan, Ramya Akula, Forrest Iandola, et al · 2024
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Fine-tuning vision-language-action models: Optimizing speed and success
Moo Jin Kim, Chelsea Finn, and Percy Liang · 2025
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An image is worth 1/2 tokens after layer 2: Plug-and-play inference acceleration for large vision-language models
Liang Chen, Haozhe Zhao, Tianyu Liu, Shuai Bai, Junyang Lin, Chang Zhou, and Baobao Chang · 2025
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Fast: Efficient action tokenization for vision-language-action models
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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