Fetching the paper…
Reading the bibliography…
Dual-system VLA (Vision-Language-Action) architectures have become a hot topic in embodied intelligence research, but there is a lack of sufficient open-source work for further performance analysis and optimization.
Judgment under uncertainty: Heuristics and biases: Biases in judgments reveal some heuristics of thinking under uncertainty
Amos Tversky and Daniel Kahneman · 1974
Earlier work this paper cites.
Dual processing in reasoning: Two systems but one reasoner
Wim De Neys · 2006
Earlier work this paper cites.
Dual-processing accounts of reasoning, judgment, and social cognition
Jonathan St BT Evans · 2008
Earlier work this paper cites.
Thinking, fast and slow
Daniel Kahneman · 2011
Earlier work this paper cites.
Rt-1: Robotics transformer for real-world control at scale, 2023
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
Earlier work this paper cites.
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
Earlier work this paper cites.
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
Earlier work this paper cites.
Minivla: A better vla with a smaller footprint
S Belkhale and D Sadigh · 2024
Earlier work this paper cites.
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
Cited alongside, same era.
Towards synergistic, generalized, and efficient dual-system for robotic manipulation
Qingwen Bu, Hongyang Li, Li Chen, Jisong Cai, Jia Zeng, Heming Cui, Maoqing Yao, and Yu Qiao · 2024
Cited alongside, same era.
Carp: Visuomotor policy learning via coarse-to-fine autoregressive prediction
Zhefei Gong, Pengxiang Ding, Shangke Lyu, Siteng Huang, Mingyang Sun, Wei Zhao, Zhaoxin Fan, and Donglin Wang · 2024
Cited alongside, same era.
A dual process vla: Efficient robotic manipulation leveraging vlm
ByungOk Han, Jaehong Kim, and Jinhyeok Jang · 2024
Cited alongside, same era.
3d diffuser actor: Policy diffusion with 3d scene representations
3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
Later among the works it cites.
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
Later among the works it cites.
Scaling diffusion policy in transformer to 1 billion parameters for robotic manipulation
Minjie Zhu, Yichen Zhu, Jinming Li, Junjie Wen, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, et al · 2024
Later among the works it cites.
Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
Closest in time.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
Cited alongside, same era.
Lego: L earning ego centric action frame generation via visual instruction tuning
Bolin Lai, Xiaoliang Dai, Lawrence Chen, Guan Pang, James M Rehg, and Miao Liu · 2024
Cited alongside, same era.
From llms to actions: Latent codes as bridges in hierarchical robot control
Yide Shentu, Philipp Wu, Aravind Rajeswaran, and Pieter Abbeel · 2024
Cited alongside, same era.
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee
Cited in the paper.
Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee
Cited in the paper.
Flower: Democratizing generalist robot policies with efficient vision-language-action flow policies
Moritz Reuss, Hongyi Zhou, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Otto, and Rudolf Lioutikov
Cited in the paper.
Xichen Pan, Satya Narayan Shukla, Aashu Singh, Zhuokai Zhao, Shlok Kumar Mishra, Jialiang Wang, Zhiyang Xu, Jiuhai Chen, Kunpeng Li, Felix Juefei-Xu, et al · 2025
Closest in time.
Dense policy: Bidirectional autoregressive learning of actions
Yue Su, Xinyu Zhan, Hongjie Fang, Han Xue, Hao-Shu Fang, Yong-Lu Li, Cewu Lu, and Lixin Yang · 2025
Closest in time.
Dexvla: Vision-language model with plug-in diffusion expert for general robot control
Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen, and Feifei Feng · 2025
Closest in time.