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Vision-Language-Action (VLA) models aim to predict robotic actions based on visual observations and language instructions.
Ba, J. L · 2016
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Deep residual learning for image recognition
He, K., Zhang, X., Ren, S., and Sun, J · 2016
Earlier work this paper cites.
Embodied hands: Modeling and capturing hands and bodies together
Romero, J., Tzionas, D., and Black, M. J · 2017
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Bert: Pre-training of deep bidirectional transformers for language understanding
Devlin, J., Chang, M.-W., Lee, K., and Toutanova, K · 2018
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Film: Visual reasoning with a general conditioning layer
Perez, E., Strub, F., De Vries, H., Dumoulin, V., and Courville, A · 2018
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Improving language understanding by generative pre-training
Radford, A., Narasimhan, K., Salimans, T., Sutskever, I., et al · 2018
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Language models are unsupervised multitask learners
Radford, A., Wu, J., Child, R., Luan, D., Amodei, D., Sutskever, I., et al · 2019
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Self-supervised multimodal versatile networks
Alayrac, J.-B., Recasens, A., Schneider, R., Arandjelović, R., Ramapuram, J., De Fauw, J., Smaira, L., Dieleman, S., and Zisserman, A · 2020
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Language models are few-shot learners
Brown, T., Mann, B., Ryder, N., Subbiah, M., Kaplan, J. D., Dhariwal, P., Neelakantan, A., Shyam, P., Sastry, G., Askell, A., et al · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
Dosovitskiy, A., Beyer, L., Kolesnikov, A., Weissenborn, D., Zhai, X., Unterthiner, T., Dehghani, M., Minderer, M., Heigold, G., Gelly, S., et al · 2020
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Dexycb: A benchmark for capturing hand grasping of objects, 2021
Chao, Y.-W., Yang, W., Xiang, Y., Molchanov, P., Handa, A., Tremblay, J., Narang, Y. S., Wyk, K. V., Iqbal, U., Birchfield, S., Kautz, J., and Fox, D · 2021
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Scaling up visual and vision-language representation learning with noisy text supervision
Jia, C., Yang, Y., Xia, Y., Chen, Y.-T., Parekh, Z., Pham, H., Le, Q., Sung, Y.-H., Li, Z., and Duerig, T · 2021
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Learning transferable visual models from natural language supervision
Radford, A., Kim, J. W., Hallacy, C., Ramesh, A., Goh, G., Agarwal, S., Sastry, G., Askell, A., Mishkin, P., Clark, J., et al · 2021
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Filip: Fine-grained interactive language-image pre-training
Yao, L., Huang, R., Hou, L., Lu, G., Niu, M., Xu, H., Liang, X., Li, Z., Jiang, X., and Xu, C · 2021
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Florence: A new foundation model for computer vision
Yuan, L., Chen, D., Chen, Y.-L., Codella, N., Dai, X., Gao, J., Hu, H., Huang, X., Li, B., Li, C., et al · 2021
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Rt-1: Robotics transformer for real-world control at scale
Brohan, A., Brown, N., Carbajal, J., Chebotar, Y., Dabis, J., Finn, C., Gopalakrishnan, K., Hausman, K., Herzog, A., Hsu, J., et al · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
Jang, E., Irpan, A., Khansari, M., Kappler, D., Ebert, F., Lynch, C., Levine, S., and Finn, C · 2022
Cited alongside, same era.
Denseclip: Language-guided dense prediction with context-aware prompting
Rao, Y., Zhao, W., Chen, G., Tang, Y., Zhu, Z., Huang, G., Zhou, J., and Lu, J · 2022
Cited alongside, same era.
Reed, S., Zolna, K., Parisotto, E., Colmenarejo, S. G., Novikov, A., Barth-Maron, G., Gimenez, M., Sulsky, Y., Kay, J., Springenberg, J. T., et al · 2022
Cited alongside, same era.
Laion-5b: An open large-scale dataset for training next generation image-text models
Schuhmann, C., Beaumont, R., Vencu, R., Gordon, C., Wightman, R., Cherti, M., Coombes, T., Katta, A., Mullis, C., Wortsman, M., et al · 2022
Cited alongside, same era.
Achiam, J., Adler, S., Agarwal, S., Ahmad, L., Akkaya, I., Aleman, F. L., Almeida, D., Altenschmidt, J., Altman, S., Anadkat, S., et al · 2023
Sigmoid loss for language image pre-training
Zhai, X., Mustafa, B., Kolesnikov, A., and Beyer, L · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Zhao, T. Z., Kumar, V., Levine, S., and Finn, C · 2023
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Paligemma: A versatile 3b vlm for transfer, 2024
Beyer, L., Steiner, A., Pinto, A. S., Kolesnikov, A., Wang, X., Salz, D., Neumann, M., Alabdulmohsin, I., Tschannen, M., Bugliarello, E., Unterthiner, T., Keysers, D., Koppula, S., Liu, F., Grycner, A., Gritsenko, A., Houlsby, N., Kumar, M., Rong, K., Eisenschlos, J., Kabra, R., Bauer, M., Bošnjak, M., Chen, X., Minderer, M., Voigtlaender, P., Bica, I., Balazevic, I., Puigcerver, J., Papalampidi, P., Henaff, O., Xiong, X., Soricut, R., Harmsen, J., and Zhai, X · 2024
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π 0 \pi_{0} : A vision-language-action flow model for general robot control, 2024
Black, K., Brown, N., Driess, D., Esmail, A., Equi, M., Finn, C., Fusai, N., Groom, L., Hausman, K., Ichter, B., Jakubczak, S., Jones, T., Ke, L., Levine, S., Li-Bell, A., Mothukuri, M., Nair, S., Pertsch, K., Shi, L. X., Tanner, J., Vuong, Q., Walling, A., Wang, H., and Zhilinsky, U · 2024
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Cited alongside, same era.
Qwen-vl: A frontier large vision-language model with versatile abilities
Bai, J., Bai, S., Yang, S., Wang, S., Tan, S., Wang, P., Lin, J., Zhou, C., and Zhou, J · 2023
Cited alongside, same era.
RT-2: Vision-language-action models transfer web knowledge to robotic control
Brohan, A., Brown, N., Carbajal, J., Chebotar, Y., Chen, X., Choromanski, K., Ding, T., Driess, D., Dubey, A., Finn, C., et al · 2023
Cited alongside, same era.
Reproducible scaling laws for contrastive language-image learning
Cherti, M., Beaumont, R., Wightman, R., Wortsman, M., Ilharco, G., Gordon, C., Schuhmann, C., Schmidt, L., and Jitsev, J · 2023
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Chi, C., Feng, S., Du, Y., Xu, Z., Cousineau, E., Burchfiel, B., and Song, S · 2023
Cited alongside, same era.
Palm: Scaling language modeling with pathways
Chowdhery, A., Narang, S., Devlin, J., Bosma, M., Mishra, G., Roberts, A., Barham, P., Chung, H. W., Sutton, C., Gehrmann, S., et al · 2023
Cited alongside, same era.
Maskclip: Masked self-distillation advances contrastive language-image pretraining
Dong, X., Bao, J., Zheng, Y., Zhang, T., Chen, D., Yang, H., Zeng, M., Zhang, W., Yuan, L., Chen, D., et al · 2023
Cited alongside, same era.
VIMA: General robot manipulation with multimodal prompts
Jiang, Y., Gupta, A., Zhang, Z., Wang, G., Dou, Y., Chen, Y., Fei-Fei, L., Anandkumar, A., Zhu, Y., and Fan, L · 2023
Cited alongside, same era.
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Open x-embodiment: Robotic learning datasets and rt-x models, 2024
Collaboration, E., O’Neill, A., Rehman, A., Maddukuri, A., Gupta, A., Padalkar, A., Lee, A., Pooley, A., Gupta, A., Mandlekar, A., Jain, A., Tung, A., Bewley, A., Herzog, A., Irpan, A., Khazatsky, A., Rai, A., Gupta, A., Wang, A., Kolobov, A., Singh, A., Garg, A., Kembhavi, A., Xie, A., Brohan, A., Raffin, A., Sharma, A., Yavary, A., Jain, A., Balakrishna, A., Wahid, A., Burgess-Limerick, B., Kim, B., Schölkopf, B., Wulfe, B., Ichter, B., Lu, C., Xu, C., Le, C., Finn, C., Wang, C., Xu, C., Chi, C., Huang, C., Chan, C., Agia, C., Pan, C., Fu, C., Devin, C., Xu, D., Morton, D., Driess, D., Chen, D., Pathak, D., Shah, D., Büchler, D., Jayaraman, D., Kalashnikov, D., Sadigh, D., Johns, E., Foster, E., Liu, F., Ceola, F., Xia, F., Zhao, F., Frujeri, F. V., Stulp, F., Zhou, G., Sukhatme, G. S., Salhotra, G., Yan, G., Feng, G., Schiavi, G., Berseth, G., Kahn, G., Wang, G., Su, H., Fang, H.-S., Shi, H., Bao, H., Amor, H. B., Christensen, H. I., Furuta, H., Walke, H., Fang, H., Ha, H., Mordatch, I., Radosavovic, I., Leal, I., Liang, J., Abou-Chakra, J., Kim, J., Drake, J., Peters, J., Schneider, J., Hsu, J., Bohg, J., Bingham, J., Wu, J., Gao, J., Hu, J., Wu, J., Wu, J., Sun, J., Luo, J., Gu, J., Tan, J., Oh, J., Wu, J., Lu, J., Yang, J., Malik, J., Silvério, J., Hejna, J., Booher, J., Tompson, J., Yang, J., Salvador, J., Lim, J. J., Han, J., Wang, K., Rao, K., Pertsch, K., Hausman, K., Go, K., Gopalakrishnan, K., Goldberg, K., Byrne, K., Oslund, K., Kawaharazuka, K., Black, K., Lin, K., Zhang, K., Ehsani, K., Lekkala, K., Ellis, K., Rana, K., Srinivasan, K., Fang, K., Singh, K. P., Zeng, K.-H., Hatch, K., Hsu, K., Itti, L., Chen, L. Y., Pinto, L., Fei-Fei, L., Tan, L., Fan, L. J., Ott, L., Lee, L., Weihs, L., Chen, M., Lepert, M., Memmel, M., Tomizuka, M., Itkina, M., Castro, M. G., Spero, M., Du, M., Ahn, M., Yip, M. C., Zhang, M., Ding, M., Heo, M., Srirama, M. K., Sharma, M., Kim, M. J., Kanazawa, N., Hansen, N., Heess, N., Joshi, N. J., Suenderhauf, N., Liu, N., Palo, N. D., Shafiullah, N. M. M., Mees, O., Kroemer, O., Bastani, O., Sanketi, P. R., Miller, P. T., Yin, P., Wohlhart, P., Xu, P., Fagan, P. D., Mitrano, P., Sermanet, P., Abbeel, P., Sundaresan, P., Chen, Q., Vuong, Q., Rafailov, R., Tian, R., Doshi, R., Mart’in-Mart’in, R., Baijal, R., Scalise, R., Hendrix, R., Lin, R., Qian, R., Zhang, R., Mendonca, R., Shah, R., Hoque, R., Julian, R., Bustamante, S., Kirmani, S., Levine, S., Lin, S., Moore, S., Bahl, S., Dass, S., Sonawani, S., Song, S., Xu, S., Haldar, S., Karamcheti, S., Adebola, S., Guist, S., Nasiriany, S., Schaal, S., Welker, S., Tian, S., Ramamoorthy, S., Dasari, S., Belkhale, S., Park, S., Nair, S., Mirchandani, S., Osa, T., Gupta, T., Harada, T., Matsushima, T., Xiao, T., Kollar, T., Yu, T., Ding, T., Davchev, T., Zhao, T. Z., Armstrong, T., Darrell, T., Chung, T., Jain, V., Vanhoucke, V., Zhan, W., Zhou, W., Burgard, W., Chen, X., Chen, X., Wang, X., Zhu, X., Geng, X., Liu, X., Liangwei, X., Li, X., Pang, Y., Lu, Y., Ma, Y. J., Kim, Y., Chebotar, Y., Zhou, Y., Zhu, Y., Wu, Y., Xu, Y., Wang, Y., Bisk, Y., Cho, Y., Lee, Y., Cui, Y., Cao, Y., Wu, Y.-H., Tang, Y., Zhu, Y., Zhang, Y., Jiang, Y., Li, Y., Li, Y., Iwasawa, Y., Matsuo, Y., Ma, Z., Xu, Z., Cui, Z. J., Zhang, Z., Fu, Z., and Lin, Z · 2024
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Dubey, A., Jauhri, A., Pandey, A., Kadian, A., Al-Dahle, A., Letman, A., Mathur, A., Schelten, A., Yang, A., Fan, A., et al · 2024
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In-context imitation learning via next-token prediction
Fu, L., Huang, H., Datta, G., Chen, L. Y., Panitch, W. C.-H., Liu, F., Li, H., and Goldberg, K · 2024
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Prismatic vlms: Investigating the design space of visually-conditioned language models
Karamcheti, S., Nair, S., Balakrishna, A., Liang, P., Kollar, T., and Sadigh, D · 2024
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Droid: A large-scale in-the-wild robot manipulation dataset, 2024
Khazatsky, A., Pertsch, K., Nair, S., Balakrishna, A., Dasari, S., Karamcheti, S., Nasiriany, S., Srirama, M. K., Chen, L. Y., Ellis, K., Fagan, P. D., Hejna, J., Itkina, M., Lepert, M., Ma, Y. J., Miller, P. T., Wu, J., Belkhale, S., Dass, S., Ha, H., Jain, A., Lee, A., Lee, Y., Memmel, M., Park, S., Radosavovic, I., Wang, K., Zhan, A., Black, K., Chi, C., Hatch, K. B., Lin, S., Lu, J., Mercat, J., Rehman, A., Sanketi, P. R., Sharma, A., Simpson, C., Vuong, Q., Walke, H. R., Wulfe, B., Xiao, T., Yang, J. H., Yavary, A., Zhao, T. Z., Agia, C., Baijal, R., Castro, M. G., Chen, D., Chen, Q., Chung, T., Drake, J., Foster, E. P., Gao, J., Herrera, D. A., Heo, M., Hsu, K., Hu, J., Jackson, D., Le, C., Li, Y., Lin, K., Lin, R., Ma, Z., Maddukuri, A., Mirchandani, S., Morton, D., Nguyen, T., O’Neill, A., Scalise, R., Seale, D., Son, V., Tian, S., Tran, E., Wang, A. E., Wu, Y., Xie, A., Yang, J., Yin, P., Zhang, Y., Bastani, O., Berseth, G., Bohg, J., Goldberg, K., Gupta, A., Gupta, A., Jayaraman, D., Lim, J. J., Malik, J., Martín-Martín, R., Ramamoorthy, S., Sadigh, D., Song, S., Wu, J., Yip, M. C., Zhu, Y., Kollar, T., Levine, S., and Finn, C · 2024
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Openvla: An open-source vision-language-action model, 2024
Kim, M. J., Pertsch, K., Karamcheti, S., Xiao, T., Balakrishna, A., Nair, S., Rafailov, R., Foster, E., Lam, G., Sanketi, P., Vuong, Q., Kollar, T., Burchfiel, B., Tedrake, R., Sadigh, D., Levine, S., Liang, P., and Finn, C · 2024
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Clearclip: Decomposing clip representations for dense vision-language inference
Lan, M., Chen, C., Ke, Y., Wang, X., Feng, L., and Zhang, W · 2024
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What matters when building vision-language models?
Laurençon, H., Tronchon, L., Cord, M., and Sanh, V · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Ghosh, D., Walke, H., Pertsch, K., Black, K., Mees, O., Dasari, S., Hejna, J., Xu, C., Luo, J., Kreiman, T., Tan, Y., Chen, L. Y., Sanketi, P., Vuong, Q., Xiao, T., Sadigh, D., Finn, C., and Levine, S · 2024
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Gpt-4o system card
OpenAI · 2024
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Fast: Efficient action tokenization for vision-language-action models, 2025
Pertsch, K., Stachowicz, K., Ichter, B., Driess, D., Nair, S., Vuong, Q., Mees, O., Finn, C., and Levine, S · 2025
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