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Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance.
An image is worth 16x16 words: Transformers for image recognition at scale, 2021
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning, 2011
Stephane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2011
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Librispeech: An ASR corpus based on public domain audio books
Vassil Panayotov, Guoguo Chen, Daniel Povey, and Sanjeev Khudanpur · 2015
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LibriTTS: A Corpus Derived from LibriSpeech for Text-to-Speech
Heiga Zen, Viet Dang, Rob Clark, Yu Zhang, Ron J. Weiss, Ye Jia, Zhifeng Chen, and Yonghui Wu · 2019
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Espnet-TTS: Unified, Reproducible, and Integratable Open Source End-to-End Text-to-Speech Toolkit
Tomoki Hayashi, Ryuichi Yamamoto, Katsuki Inoue, Takenori Yoshimura, Shinji Watanabe, Tomoki Toda, Kazuya Takeda, Yu Zhang, and Xu Tan · 2020
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Conditional Variational Autoencoder with Adversarial Learning for End-to-End Text-to-Speech
Jaehyeon Kim, Jungil Kong, and Juhee Son · 2021
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Language Conditioned Imitation Learning Over Unstructured Data
Corey Lynch* and Pierre Sermanet* · 2021
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Learning transferable visual models from natural language supervision, 2021
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, Gretchen Krueger, and Ilya Sutskever · 2021
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Do as i can and not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
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Scaling instruction-finetuned language models, 2022
Hyung Won Chung, Le Hou, Shayne Longpre, Barret Zoph, Yi Tay, William Fedus, Yunxuan Li, Xuezhi Wang, Mostafa Dehghani, Siddhartha Brahma, Albert Webson, Shixiang Shane Gu, Zhuyun Dai, Mirac Suzgun, Xinyun Chen, Aakanksha Chowdhery, Alex Castro-Ros, Marie Pellat, Kevin Robinson, Dasha Valter, Sharan Narang, Gaurav Mishra, Adams Yu, Vincent Zhao, Yanping Huang, Andrew Dai, Hongkun Yu, Slav Petrov, Ed H. Chi, Jeff Dean, Jacob Devlin, Adam Roberts, Denny Zhou, Quoc V. Le, and Jason Wei · 2022
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Junnan Li, Dongxu Li, Caiming Xiong, and Steven Hoi · 2022
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What matters in language conditioned robotic imitation learning over unstructured data
Oier Mees, Lukas Hermann, and Wolfram Burgard · 2022
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Training language models to follow instructions with human feedback, 2022
Long Ouyang, Jeff Wu, Xu Jiang, Diogo Almeida, Carroll L. Wainwright, Pamela Mishkin, Chong Zhang, Sandhini Agarwal, Katarina Slama, Alex Ray, John Schulman, Jacob Hilton, Fraser Kelton, Luke Miller, Maddie Simens, Amanda Askell, Peter Welinder, Paul Christiano, Jan Leike, and Ryan Lowe · 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, 2023
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alexander Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Vicuna: An open-source chatbot impressing gpt-4 with 90%* chatgpt quality, March 2023
Wei-Lin Chiang, Zhuohan Li, Zi Lin, Ying Sheng, Zhanghao Wu, Hao Zhang, Lianmin Zheng, Siyuan Zhuang, Yonghao Zhuang, Joseph E. Gonzalez, Ion Stoica, and Eric P. Xing · 2023
Cited alongside, same era.
Palm-e: An embodied multimodal language model, 2023
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence · 2023
Cited alongside, same era.
ImageBind-LLM: Multi-modality Instruction Tuning, September 2023
Jiaming Han, Renrui Zhang, Wenqi Shao, Peng Gao, Peng Xu, Han Xiao, Kaipeng Zhang, Chris Liu, Song Wen, Ziyu Guo, Xudong Lu, Shuai Ren, Yafei Wen, Xiaoxin Chen, Xiangyu Yue, Hongsheng Li, and Yu Qiao · 2023
Cited alongside, same era.
OBELICS: An Open Web-Scale Filtered Dataset of Interleaved Image-Text Documents, August 2023
Hugo Laurençon, Lucile Saulnier, Léo Tronchon, Stas Bekman, Amanpreet Singh, Anton Lozhkov, Thomas Wang, Siddharth Karamcheti, Alexander M. Rush, Douwe Kiela, Matthieu Cord, and Victor Sanh · 2023
VITA: Towards Open-Source Interactive Omni Multimodal LLM, September 2024
Chaoyou Fu, Haojia Lin, Zuwei Long, Yunhang Shen, Meng Zhao, Yifan Zhang, Shaoqi Dong, Xiong Wang, Di Yin, Long Ma, Xiawu Zheng, Ran He, Rongrong Ji, Yunsheng Wu, Caifeng Shan, and Xing Sun · 2024
Later among the works it cites.
Mamba: Linear-Time Sequence Modeling with Selective State Spaces
Albert Gu and Tri Dao · 2024
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Prismatic VLMs: Investigating the Design Space of Visually-Conditioned Language Models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
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Openvla: An open-source vision-language-action model, 2024
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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Cited alongside, same era.
Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
Cited alongside, same era.
Code as policies: Language model programs for embodied control, 2023
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
Cited alongside, same era.
Visual instruction tuning, 2023
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Robust speech recognition via large-scale weak supervision
Alec Radford, Jong Wook Kim, Tao Xu, Greg Brockman, Christine McLeavey, and Ilya Sutskever · 2023
Cited alongside, same era.
MUTEX: Learning Unified Policies from Multimodal Task Specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 2023
Cited alongside, same era.
Llama: Open and efficient foundation language models, 2023
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, Aurelien Rodriguez, Armand Joulin, Edouard Grave, and Guillaume Lample · 2023
Cited alongside, same era.
Connecting Speech Encoder and Large Language Model for ASR, September 2023
Wenyi Yu, Changli Tang, Guangzhi Sun, Xianzhao Chen, Tian Tan, Wei Li, Lu Lu, Zejun Ma, and Chao Zhang · 2023
Cited alongside, same era.
Video-LLaMA: An Instruction-tuned Audio-Visual Language Model for Video Understanding
Hang Zhang, Xin Li, and Lidong Bing · 2023
Cited alongside, same era.
Bin Lin, Yang Ye, Bin Zhu, Jiaxi Cui, Munan Ning, Peng Jin, and Li Yuan · 2024
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PiTe: Pixel-Temporal Alignment for Large Video-Language Model
Yang Liu, Pengxiang Ding, Siteng Huang, Min Zhang, Han Zhao, and Donglin Wang · 2024
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Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Action
Jiasen Lu, Christopher Clark, Sangho Lee, Zichen Zhang, Savya Khosla, Ryan Marten, Derek Hoiem, and Aniruddha Kembhavi · 2024
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Gpt-4: Generative pre-trained transformer 4
OpenAI · 2024
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Gemini: A Family of Highly Capable Multimodal Models, June 2024
Gemini Team, Rohan Anil, Sebastian Borgeaud, and Alayrac · 2024
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Xinyang Tong, Pengxiang Ding, Donglin Wang, Wenjie Zhang, Can Cui, Mingyang Sun, Yiguo Fan, Han Zhao, Hongyin Zhang, Yonghao Dang, Siteng Huang, and Shangke Lyu · 2024
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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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Llama-adapter: Efficient fine-tuning of language models with zero-init attention, 2024
Renrui Zhang, Jiaming Han, Chris Liu, Peng Gao, Aojun Zhou, Xiangfei Hu, Shilin Yan, Pan Lu, Hongsheng Li, and Yu Qiao · 2024
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Siyun Zhao, Yuqing Yang, Zilong Wang, Zhiyuan He, Luna K. Qiu, and Lili Qiu · 2024
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3D-VLA: A 3D Vision-Language-Action Generative World Model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
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Gevrm: Goal-expressive video generation model for robust visual manipulation
Hongyin Zhang, Pengxiang Ding, Shangke Lyu, Ying Peng, and Donglin Wang · 2025
Closest in time.
Cobra: Extending Mamba to Multi-Modal Large Language Model for Efficient Inference, January 2025
Han Zhao, Min Zhang, Wei Zhao, Pengxiang Ding, Siteng Huang, and Donglin Wang · 2025
Closest in time.