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Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions.
Actor-mimic: Deep multitask and transfer reinforcement learning
Emilio Parisotto, Jimmy Lei Ba, and Ruslan Salakhutdinov · 2015
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Andrei A Rusu, Sergio Gomez Colmenarejo, Caglar Gulcehre, Guillaume Desjardins, James Kirkpatrick, Razvan Pascanu, Volodymyr Mnih, Koray Kavukcuoglu, and Raia Hadsell · 2015
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Finetuned language models are zero-shot learners
Jason Wei, Maarten Bosma, Vincent Y Zhao, Kelvin Guu, Adams Wei Yu, Brian Lester, Nan Du, Andrew M Dai, and Quoc V Le · 2021
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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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Clip on wheels: Zero-shot object navigation as object localization and exploration
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2022
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Large language models are zero-shot reasoners
Takeshi Kojima, Shixiang Shane Gu, Machel Reid, Yutaka Matsuo, and Yusuke Iwasawa · 2022
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A generalist agent
Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gómez Colmenarejo, Alexander Novikov, Gabriel Barth-maron, Mai Giménez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, and Nando de Freitas · 2022
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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
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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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Contrastive chain-of-thought prompting
Yew Ken Chia, Guizhen Chen, Luu Anh Tuan, Soujanya Poria, and Lidong Bing · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
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Vision-language models as success detectors
Yuqing Du, Ksenia Konyushkova, Misha Denil, Akhil Raju, Jessica Landon, Felix Hill, Nando de Freitas, and Serkan Cabi · 2023
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Polytask: Learning unified policies through behavior distillation
Siddhant Haldar and Lerrel Pinto · 2023
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Visual chain-of-thought diffusion models
William Harvey and Frank Wood · 2023
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Language-driven representation learning for robotics
Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, and Percy Liang · 2023
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Thinkbot: Embodied instruction following with thought chain reasoning
Guanxing Lu, Ziwei Wang, Changliu Liu, Jiwen Lu, and Yansong Tang · 2023
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Faithful chain-of-thought reasoning
Qing Lyu, Shreya Havaldar, Adam Stein, Li Zhang, Delip Rao, Eric Wong, Marianna Apidianaki, and Chris Callison-Burch · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Abby O’Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, et al · 2023
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Visual chain of thought: bridging logical gaps with multimodal infillings
Daniel Rose, Vaishnavi Himakunthala, Andy Ouyang, Ryan He, Alex Mei, Yujie Lu, Michael Saxon, Chinmay Sonar, Diba Mirza, and William Yang Wang · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Bridgedata v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 2023
Cited alongside, same era.
Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2023
Cited alongside, same era.
Beyond chain-of-thought, effective graph-of-thought reasoning in language models
Robotic-clip: Fine-tuning clip on action data for robotic applications
Nghia Nguyen, Minh Nhat Vu, Tung D Ta, Baoru Huang, Thieu Vo, Ngan Le, and Anh Nguyen · 2024
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Generate subgoal images before act: Unlocking the chain-of-thought reasoning in diffusion model for robot manipulation with multimodal prompts
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Jiashun Liu, Yan Zheng, Bin Wang, and Yuzheng Zhuang · 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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Visual cot: Unleashing chain-of-thought reasoning in multi-modal language models
Hao Shao, Shengju Qian, Han Xiao, Guanglu Song, Zhuofan Zong, Letian Wang, Yu Liu, and Hongsheng Li · 2024
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Yao Yao, Zuchao Li, and Hai Zhao · 2023
Cited alongside, same era.
Learning to solve tasks with exploring prior behaviours
Ruiqi Zhu, Siyuan Li, Tianhong Dai, Chongjie Zhang, and Oya Celiktutan · 2023
Cited alongside, same era.
Phi-3 technical report: A highly capable language model locally on your phone
Marah Abdin, Sam Ade Jacobs, Ammar Ahmad Awan, Jyoti Aneja, Ahmed Awadallah, Hany Awadalla, Nguyen Bach, Amit Bahree, Arash Bakhtiari, Harkirat Behl, et al · 2024
Cited alongside, same era.
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.
Mobility vla: Multimodal instruction navigation with long-context vlms and topological graphs
Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, et al · 2024
Cited alongside, same era.
What matters in employing vision language models for tokenizing actions in robot control?
Nicolai Dorka, Chenguang Huang, Tim Welschehold, and Wolfram Burgard · 2024
Cited alongside, same era.
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
Cited alongside, same era.
Baku: An efficient transformer for multi-task policy learning
Siddhant Haldar, Zhuoran Peng, and Lerrel Pinto · 2024
Cited alongside, same era.
Andreas Steiner, André Susano Pinto, Michael Tschannen, Daniel Keysers, Xiao Wang, Yonatan Bitton, Alexey Gritsenko, Matthias Minderer, Anthony Sherbondy, Shangbang Long, et al · 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, Tobias Kreiman, Charles Xu, et al · 2024
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Scaling image tokenizers with grouped spherical quantization
Jiangtao Wang, Zhen Qin, Yifan Zhang, Vincent Tao Hu, Björn Ommer, Rania Briq, and Stefan Kesselheim · 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, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, et al · 2024
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Vila-u: a unified foundation model integrating visual understanding and generation
Yecheng Wu, Zhuoyang Zhang, Junyu Chen, Haotian Tang, Dacheng Li, Yunhao Fang, Ligeng Zhu, Enze Xie, Hongxu Yin, Li Yi, et al · 2024
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Robopoint: A vision-language model for spatial affordance prediction in robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Vla-3d: A dataset for 3d semantic scene understanding and navigation
Haochen Zhang, Nader Zantout, Pujith Kachana, Zongyuan Wu, Ji Zhang, and Wenshan Wang · 2024
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Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2024
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Your large vision-language model only needs a few attention heads for visual grounding
Seil Kang, Jinyeong Kim, Junhyeok Kim, and Seong Jae Hwang · 2025
Closest in time.
Spatialvla: Exploring spatial representations for visual-language-action model
Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, et al · 2025
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Michael Tschannen, Alexey Gritsenko, Xiao Wang, Muhammad Ferjad Naeem, Ibrahim Alabdulmohsin, Nikhil Parthasarathy, Talfan Evans, Lucas Beyer, Ye Xia, Basil Mustafa, et al · 2025
Closest in time.
Vla model-expert collaboration for bi-directional manipulation learning
Tian-Yu Xiang, Ao-Qun Jin, Xiao-Hu Zhou, Mei-Jiang Gui, Xiao-Liang Xie, Shi-Qi Liu, Shuang-Yi Wang, Sheng-Bin Duang, Si-Cheng Wang, Zheng Lei, et al · 2025
Closest in time.
Up-vla: A unified understanding and prediction model for embodied agent
Jianke Zhang, Yanjiang Guo, Yucheng Hu, Xiaoyu Chen, Xiang Zhu, and Jianyu Chen · 2025
Closest in time.
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
Closest in time.
Chatvla: Unified multimodal understanding and robot control with vision-language-action model
Zhongyi Zhou, Yichen Zhu, Minjie Zhu, Junjie Wen, Ning Liu, Zhiyuan Xu, Weibin Meng, Ran Cheng, Yaxin Peng, Chaomin Shen, et al · 2025
Closest in time.