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The field of robotics has made significant strides toward developing generalist robot manipulation policies.
Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Neural discrete representation learning
Aaron Van Den Oord, Oriol Vinyals, et al · 2017
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David Ha and Jürgen Schmidhuber · 2018
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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Sim2real predictivity: Does evaluation in simulation predict real-world performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, and Dhruv Batra · 2020
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World-gan: a generative model for minecraft worlds
Maren Awiszus, Frederik Schubert, and Bodo Rosenhahn · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Pathdreamer: A world model for indoor navigation
Jing Yu Koh, Honglak Lee, Yinfei Yang, Jason Baldridge, and Peter Anderson · 2021
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Lora: Low-rank adaptation of large language models. arxiv 2021
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 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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Scalable diffusion models with transformers. 2023 ieee
William S Peebles and Saining Xie · 2022
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Daydreamer: World models for physical robot learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, and Ken Goldberg · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
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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 · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Multi-view masked world models for visual robotic manipulation
Younggyo Seo, Junsu Kim, Stephen James, Kimin Lee, Jinwoo Shin, and Pieter Abbeel · 2023
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Surfer: Progressive reasoning with world models for robotic manipulation
Pengzhen Ren, Kaidong Zhang, Hetao Zheng, Zixuan Li, Yuhang Wen, Fengda Zhu, Mas Ma, and Xiaodan Liang · 2023
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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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Visual reinforcement learning with self-supervised 3d representations
Yanjie Ze, Nicklas Hansen, Yinbo Chen, Mohit Jain, and Xiaolong Wang · 2023
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Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2023
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
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Pivot-r: Primitive-driven waypoint-aware world model for robotic manipulation
Kaidong Zhang, Pengzhen Ren, Bingqian Lin, Junfan Lin, Shikui Ma, Hang Xu, and Xiaodan Liang · 2024
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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, et al · 2024
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p i _ 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
Cited alongside, same era.
Humanoidbench: Simulated humanoid benchmark for whole-body locomotion and manipulation
Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, and Pieter Abbeel · 2024
Cited alongside, same era.
Peract2: Benchmarking and learning for robotic bimanual manipulation tasks
Markus Grotz, Mohit Shridhar, Yu-Wei Chao, Tamim Asfour, and Dieter Fox · 2024
Cited alongside, same era.
Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, and Ted Xiao · 2024
Cited alongside, same era.
Quar-vla: Vision-language-action model for quadruped robots
Pengxiang Ding, Han Zhao, Wenjie Zhang, Wenxuan Song, Min Zhang, Siteng Huang, Ningxi Yang, and Donglin Wang · 2024
Later among the works it cites.
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
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Robomamba: Efficient vision-language-action model for robotic reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Pengju An, Xiaoqi Li, Kaichen Zhou, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 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
Later among the works it cites.
Data scaling laws in imitation learning for robotic manipulation, 2024
Fanqi Lin, Yingdong Hu, Pingyue Sheng, Chuan Wen, Jiacheng You, and Yang Gao · 2024
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Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
Cited alongside, same era.
Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, et al · 2024
Cited alongside, same era.
Multimodal diffusion transformer: Learning versatile behavior from multimodal goals
Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel, and Rudolf Lioutikov · 2024
Cited alongside, same era.
3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
Cited alongside, same era.
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
Cited alongside, same era.
Discrete policy: Learning disentangled action space for multi-task robotic manipulation
Kun Wu, Yichen Zhu, Jinming Li, Junjie Wen, Ning Liu, Zhiyuan Xu, Qinru Qiu, and Jian Tang · 2024
Cited alongside, same era.
Genie: Generative interactive environments
Jake Bruce, Michael D Dennis, Ashley Edwards, Jack Parker-Holder, Yuge Shi, Edward Hughes, Matthew Lai, Aditi Mavalankar, Richie Steigerwald, Chris Apps, et al · 2024
Cited alongside, same era.
Amir Bar, Gaoyue Zhou, Danny Tran, Trevor Darrell, and Yann LeCun · 2024
Cited alongside, same era.
Later among the works it cites.
Uni-navid: A video-based vision-language-action model for unifying embodied navigation tasks
Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, and He Wang · 2024
Later among the works it cites.
Jafar: An open-source genie reimplemention in jax
Timon Willi, Matthew Thomas Jackson, and Jakob Nicolaus Foerster · 2024
Later among the works it cites.
Robotic world model: A neural network simulator for robust policy optimization in robotics
Chenhao Li, Andreas Krause, and Marco Hutter · 2025
Closest in time.
Enerverse: Envisioning embodied future space for robotics manipulation
Siyuan Huang, Liliang Chen, Pengfei Zhou, Shengcong Chen, Zhengkai Jiang, Yue Hu, Yue Liao, Peng Gao, Hongsheng Li, Maoqing Yao, et al · 2025
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Mineworld: a real-time and open-source interactive world model on minecraft
Junliang Guo, Yang Ye, Tianyu He, Haoyu Wu, Yushu Jiang, Tim Pearce, and Jiang Bian · 2025
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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
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Robotwin: Dual-arm robot benchmark with generative digital twins
Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, et al · 2025
Closest in time.
Autobio: A simulation and benchmark for robotic automation in digital biology laboratory
Zhiqian Lan, Yuxuan Jiang, Ruiqi Wang, Xuanbing Xie, Rongkui Zhang, Yicheng Zhu, Peihang Li, Tianshuo Yang, Tianxing Chen, Haoyu Gao, et al · 2025
Closest in time.
Autoeval: Autonomous evaluation of generalist robot manipulation policies in the real world
Zhiyuan Zhou, Pranav Atreya, You Liang Tan, Karl Pertsch, and Sergey Levine · 2025
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Diffusion-vla: Scaling robot foundation models via unified diffusion and autoregression
Junjie Wen, Minjie Zhu, Yichen Zhu, Zhibin Tang, Jinming Li, Zhongyi Zhou, Chengmeng Li, Xiaoyu Liu, Yaxin Peng, Chaomin Shen, et al · 2025
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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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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
Closest in time.
Ewmbench: Evaluating scene, motion, and semantic quality in embodied world models
Hu Yue, Siyuan Huang, Yue Liao, Shengcong Chen, Pengfei Zhou, Liliang Chen, Maoqing Yao, and Guanghui Ren · 2025
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Enerverse-ac: Envisioning embodied environments with action condition
Yuxin Jiang, Shengcong Chen, Siyuan Huang, Liliang Chen, Pengfei Zhou, Yue Liao, Xindong He, Chiming Liu, Hongsheng Li, Maoqing Yao, et al · 2025
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Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, et al · 2025
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1X World Model — 1x.tech
1X Technologies · 2025
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pi0.5: a vision-language-action model with open-world generalization
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, et al · 2025
Closest in time.
Gemini robotics: Bringing ai into the physical world
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, et al · 2025
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Humanoid-vla: Towards universal humanoid control with visual integration
Pengxiang Ding, Jianfei Ma, Xinyang Tong, Binghong Zou, Xinxin Luo, Yiguo Fan, Ting Wang, Hongchao Lu, Panzhong Mo, Jinxin Liu, et al · 2025
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Can Cui, Pengxiang Ding, Wenxuan Song, Shuanghao Bai, Xinyang Tong, Zirui Ge, Runze Suo, Wanqi Zhou, Yang Liu, Bofang Jia, et al · 2025
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Hybridvla: Collaborative diffusion and autoregression in a unified vision-language-action model
Jiaming Liu, Hao Chen, Pengju An, Zhuoyang Liu, Renrui Zhang, Chenyang Gu, Xiaoqi Li, Ziyu Guo, Sixiang Chen, Mengzhen Liu, et al · 2025
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Univla: Learning to act anywhere with task-centric latent actions
Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, and Hongyang Li · 2025
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Graspvla: a grasping foundation model pre-trained on billion-scale synthetic action data
Shengliang Deng, Mi Yan, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Heming Cui, et al · 2025
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Wan: Open and advanced large-scale video generative models
Ang Wang, Baole Ai, Bin Wen, Chaojie Mao, Chen-Wei Xie, Di Chen, Feiwu Yu, Haiming Zhao, Jianxiao Yang, Jianyuan Zeng, Jiayu Wang, Jingfeng Zhang, Jingren Zhou, Jinkai Wang, Jixuan Chen, Kai Zhu, Kang Zhao, Keyu Yan, Lianghua Huang, Mengyang Feng, Ningyi Zhang, Pandeng Li, Pingyu Wu, Ruihang Chu, Ruili Feng, Shiwei Zhang, Siyang Sun, Tao Fang, Tianxing Wang, Tianyi Gui, Tingyu Weng, Tong Shen, Wei Lin, Wei Wang, Wei Wang, Wenmeng Zhou, Wente Wang, Wenting Shen, Wenyuan Yu, Xianzhong Shi, Xiaoming Huang, Xin Xu, Yan Kou, Yangyu Lv, Yifei Li, Yijing Liu, Yiming Wang, Yingya Zhang, Yitong Huang, Yong Li, You Wu, Yu Liu, Yulin Pan, Yun Zheng, Yuntao Hong, Yupeng Shi, Yutong Feng, Zeyinzi Jiang, Zhen Han, Zhi-Fan Wu, and Ziyu Liu · 2025
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