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Deploying powerful Vision-Language-Action (VLA) models on edge devices is limited by their massive size.
Visualizing data using t-sne
Laurens van der Maaten and Geoffrey Hinton · 2008
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Estimating or propagating gradients through stochastic neurons for conditional computation
Yoshua Bengio, Nicholas Léonard, and Aaron C. Courville · 2013
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Microsoft COCO: common objects in context
Tsung-Yi Lin, Michael Maire, Serge J. Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dollár, and C. Lawrence Zitnick · 2014
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A diagram is worth a dozen images
Aniruddha Kembhavi, Mike Salvato, Eric Kolve, Minjoon Seo, Hannaneh Hajishirzi, and Ali Farhadi · 2016
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Flashattention: Fast and memory-efficient exact attention with io-awareness
Tri Dao, Daniel Y. Fu, Stefano Ermon, Atri Rudra, and Christopher Ré · 2022
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Llm.int8(): 8-bit matrix multiplication for transformers at scale
Tim Dettmers, Mike Lewis, Younes Belkada, and Luke Zettlemoyer · 2022
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Pokebnn: A binary pursuit of lightweight accuracy
Yichi Zhang, Zhiru Zhang, and Lukasz Lew · 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, Alexander 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 S. Ryoo, Grecia Salazar, Pannag R. Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong T. Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence · 2023
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Seed-bench: Benchmarking multimodal llms with generative comprehension
Bohao Li, Rui Wang, Guangzhi Wang, Yuying Ge, Yixiao Ge, and Ying Shan · 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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LLM-FP4: 4-bit floating-point quantized transformers
Shih-Yang Liu, Zechun Liu, Xijie Huang, Pingcheng Dong, and Kwang-Ting Cheng · 2023
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Embodiedgpt: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 2023
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FP8-LM: training FP8 large language models
Houwen Peng, Kan Wu, Yixuan Wei, Guoshuai Zhao, Yuxiang Yang, Ze Liu, Yifan Xiong, Ziyue Yang, Bolin Ni, Jingcheng Hu, Ruihang Li, Miaosen Zhang, Chen Li, Jia Ning, Ruizhe Wang, Zheng Zhang, Shuguang Liu, Joe Chau, Han Hu, and Peng Cheng · 2023
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Bitnet: Scaling 1-bit transformers for large language models
Hongyu Wang, Shuming Ma, Li Dong, Shaohan Huang, Huaijie Wang, Lingxiao Ma, Fan Yang, Ruiping Wang, Yi Wu, and Furu Wei · 2023
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Training transformers with 4-bit integers
Haocheng Xi, Changhao Li, Jianfei Chen, and Jun Zhu · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
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RT-2: vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong T. Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R. Sanketi, Grecia Salazar, Michael S. Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J. Joshi, Alex Irpan, Brian Ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, and Kehang Han · 2023
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π \pi 0 {}_{\mbox{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, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, and Ury Zhilinsky · 2024
Mmmu: A massive multi-discipline multimodal understanding and reasoning benchmark for expert agi
Xiang Yue, Yuansheng Ni, Kai Zhang, Tianyu Zheng, Ruoqi Liu, Ge Zhang, Samuel Stevens, Dongfu Jiang, Weiming Ren, Yuxuan Sun, et al · 2024
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Scalable matmul-free language modeling
Rui-Jie Zhu, Yu Zhang, Ethan Sifferman, Tyler Sheaves, Yiqiao Wang, Dustin Richmond, Peng Zhou, and Jason K. Eshraghian · 2024
Later among the works it cites.
Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, Humen Zhong, Yuanzhi Zhu, Ming-Hsuan Yang, Zhaohai Li, Jianqiang Wan, Pengfei Wang, Wei Ding, Zheren Fu, Yiheng Xu, Jiabo Ye, Xi Zhang, Tianbao Xie, Zesen Cheng, Hang Zhang, Zhibo Yang, Haiyang Xu, and Junyang Lin · 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, Joel Jang, Zhenyu Jiang, Jan Kautz, Kaushil Kundalia, Lawrence Lao, Zhiqi Li, Zongyu Lin, Kevin Lin, Guilin Liu, Edith LLontop, Loic Magne, Ajay Mandlekar, Avnish Narayan, Soroush Nasiriany, Scott Reed, You Liang Tan, Guanzhi Wang, Zu Wang, Jing Wang, Qi Wang, Jiannan Xiang, Yuqi Xie, Yinzhen Xu, Zhenjia Xu, Seonghyeon Ye, Zhiding Yu, Ao Zhang, Hao Zhang, Yizhou Zhao, Ruijie Zheng, and Yuke Zhu · 2025
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Are we on the right way for evaluating large vision-language models?
Lin Chen, Jinsong Li, Xiaoyi Dong, Pan Zhang, Yuhang Zang, Zehui Chen, Haodong Duan, Jiaqi Wang, Yu Qiao, Dahua Lin, et al · 2024
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Mammoth-vl: Eliciting multimodal reasoning with instruction tuning at scale
Jarvis Guo, Tuney Zheng, Yuelin Bai, Bo Li, Yubo Wang, King Zhu, Yizhi Li, Graham Neubig, Wenhu Chen, and Xiang Yue · 2024
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Cogagent: A visual language model for GUI agents
Wenyi Hong, Weihan Wang, Qingsong Lv, Jiazheng Xu, Wenmeng Yu, Junhui Ji, Yan Wang, Zihan Wang, Yuxiao Dong, Ming Ding, and Jie Tang · 2024
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Spectra: Surprising effectiveness of pretraining ternary language models at scale
Ayush Kaushal, Tejas Vaidhya, Arnab Kumar Mondal, Tejas Pandey, Aaryan Bhagat, and Irina Rish · 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 Paul Foster, Pannag R. Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
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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, Hang Li, and Tao Kong · 2024
Cited alongside, same era.
Improved baselines with visual instruction tuning
Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee · 2024
Cited alongside, same era.
The era of 1-bit llms: All large language models are in 1.58 bits
Shuming Ma, Hongyu Wang, Lingxiao Ma, Lei Wang, Wenhui Wang, Shaohan Huang, Li Dong, Ruiping Wang, Jilong Xue, and Furu Wei · 2024
Cited alongside, same era.
Closest in time.
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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Nora: A small open-sourced generalist vision language action model for embodied tasks
Chia-Yu Hung, Qi Sun, Pengfei Hong, Amir Zadeh, Chuan Li, U Tan, Navonil Majumder, Soujanya Poria, 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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Evo-1: Lightweight vision-language-action model with preserved semantic alignment
Tao Lin, Yilei Zhong, Yuxin Du, Jingjing Zhang, Jiting Liu, Yinxinyu Chen, Encheng Gu, Ziyan Liu, Hongyi Cai, Yanwen Zou, Lixing Zou, Zhaoye Zhou, Gen Li, and Bo Zhao · 2025
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Bitnet b1. 58 2b4t technical report
Shuming Ma, Hongyu Wang, Shaohan Huang, Xingxing Zhang, Ying Hu, Ting Song, Yan Xia, and Furu Wei · 2025
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UI-TARS: pioneering automated GUI interaction with native agents
Yujia Qin, Yining Ye, Junjie Fang, Haoming Wang, Shihao Liang, Shizuo Tian, Junda Zhang, Jiahao Li, Yunxin Li, Shijue Huang, Wanjun Zhong, Kuanye Li, Jiale Yang, Yu Miao, Woyu Lin, Longxiang Liu, Xu Jiang, Qianli Ma, Jingyu Li, Xiaojun Xiao, Kai Cai, Chuang Li, Yaowei Zheng, Chaolin Jin, Chen Li, Xiao Zhou, Minchao Wang, Haoli Chen, Zhaojian Li, Haihua Yang, Haifeng Liu, Feng Lin, Tao Peng, Xin Liu, and Guang Shi · 2025
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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, and Xuelong Li · 2025
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Smolvla: A vision-language-action model for affordable and efficient robotics
Mustafa Shukor, Dana Aubakirova, Francesco Capuano, Pepijn Kooijmans, Steven Palma, Adil Zouitine, Michel Aractingi, Caroline Pascal, Martino Russi, Andrés Marafioti, Simon Alibert, Matthieu Cord, Thomas Wolf, and Rémi Cadène · 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, Ankur Handa, Ming-Yu Liu, Donglai Xiang, Gordon Wetzstein, and Tsung-Yi Lin · 2025
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Internvl3: Exploring advanced training and test-time recipes for open-source multimodal models
Jinguo Zhu, Weiyun Wang, Zhe Chen, Zhaoyang Liu, Shenglong Ye, Lixin Gu, Yuchen Duan, Hao Tian, Weijie Su, Jie Shao, et al · 2025
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