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Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations.
Multimodal interactions between proprioceptive and cutaneous signals in primary somatosensory cortex
Sung Soo Kim, Manuel Gomez-Ramirez, Pramodsingh H Thakur, and Steven S Hsiao · 2015
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Outrageously large neural networks: The sparsely-gated mixture-of-experts layer
Noam Shazeer, Azalia Mirhoseini, Krzysztof Maziarz, Andy Davis, Quoc Le, Geoffrey Hinton, and Jeff Dean · 2017
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Modeling task relationships in multi-task learning with multi-gate mixture-of-experts
Jiaqi Ma, Zhe Zhao, Xinyang Yi, Jilin Chen, Lichan Hong, and Ed H Chi · 2018
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Gshard: Scaling giant models with conditional computation and automatic sharding
Dmitry Lepikhin, HyoukJoong Lee, Yuanzhong Xu, Dehao Chen, Orhan Firat, Yanping Huang, Maxim Krikun, Noam Shazeer, and Zhifeng Chen · 2020
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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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Scaling vision with sparse mixture of experts
Carlos Riquelme, Joan Puigcerver, Basil Mustafa, Maxim Neumann, Rodolphe Jenatton, André Susano Pinto, Daniel Keysers, and Neil Houlsby · 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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Vima: General robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2022
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Switch transformers: Scaling to trillion parameter models with simple and efficient sparsity
William Fedus, Barret Zoph, and Noam Shazeer · 2022
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Glam: Efficient scaling of language models with mixture-of-experts
Nan Du, Yanping Huang, Andrew M Dai, Simon Tong, Dmitry Lepikhin, Yuanzhong Xu, Maxim Krikun, Yanqi Zhou, Adams Wei Yu, Orhan Firat, et al · 2022
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St-moe: Designing stable and transferable sparse expert models
Barret Zoph, Irwan Bello, Sameer Kumar, Nan Du, Yanping Huang, Jeff Dean, Noam Shazeer, and William Fedus · 2022
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Multimodal contrastive learning with limoe: the language-image mixture of experts
Basil Mustafa, Carlos Riquelme, Joan Puigcerver, Rodolphe Jenatton, and Neil Houlsby · 2022
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Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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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
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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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Efficient sim-to-real transfer of contact-rich manipulation skills with online admittance residual learning
Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, and Masayoshi Tomizuka · 2023
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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
Cited alongside, same era.
Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
Cited alongside, same era.
Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 2024
Cited alongside, same era.
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
Cited alongside, same era.
Forge: Force-guided exploration for robust contact-rich manipulation under uncertainty
Michael Noseworthy, Bingjie Tang, Bowen Wen, Ankur Handa, Chad Kessens, Nicholas Roy, Dieter Fox, Fabio Ramos, Yashraj Narang, and Iretiayo Akinola · 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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Vlas: Vision-language-action model with speech instructions for customized robot manipulation
Wei Zhao, Pengxiang Ding, Min Zhang, Zhefei Gong, Shuanghao Bai, Han Zhao, and Donglin Wang · 2025
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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
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Interleave-vla: Enhancing robot manipulation with interleaved image-text instructions
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Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
Cited alongside, same era.
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
Cited alongside, same era.
π 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.
Paligemma: A versatile 3b vlm for transfer
Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, et al · 2024
Cited alongside, same era.
Robomamba: Multimodal state space model for efficient robot reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Lily Lee, Kaichen Zhou, Pengju An, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang · 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.
Prediction with action: Visual policy learning via joint denoising process
Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, and Jianyu Chen · 2024
Cited alongside, same era.
Tacdiffusion: Force-domain diffusion policy for precise tactile manipulation
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Sami Haddadin, and Alois Knoll · 2024
Cited alongside, same era.
Cunxin Fan, Xiaosong Jia, Yihang Sun, Yixiao Wang, Jianglan Wei, Ziyang Gong, Xiangyu Zhao, Masayoshi Tomizuka, Xue Yang, Junchi Yan, et al · 2025
Closest in time.
π 0 .5 \pi_{0}.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
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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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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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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
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Pointvla: Injecting the 3d world into vision-language-action models
Chengmeng Li, Junjie Wen, Yan Peng, Yaxin Peng, Feifei Feng, and Yichen Zhu · 2025
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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
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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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Towards forceful robotic foundation models: a literature survey
William Xie and Nikolaus Correll · 2025
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Tla: Tactile-language-action model for contact-rich manipulation
Peng Hao, Chaofan Zhang, Dingzhe Li, Xiaoge Cao, Xiaoshuai Hao, Shaowei Cui, and Shuo Wang · 2025
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Impact: Intelligent motion planning with acceptable contact trajectories via vision-language models
Yiyang Ling, Karan Owalekar, Oluwatobiloba Adesanya, Erdem Bıyık, and Daniel Seita · 2025
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Should we learn contact-rich manipulation policies from sampling-based planners?
Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, and Tao Pang · 2025
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More: Unlocking scalability in reinforcement learning for quadruped vision-language-action models
Han Zhao, Wenxuan Song, Donglin Wang, Xinyang Tong, Pengxiang Ding, Xuelian Cheng, and Zongyuan Ge · 2025
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