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Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning.
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The Open Motion Planning Library
Ioan A. Şucan, Mark Moll, and Lydia E. Kavraki · 2012
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V-rep: A versatile and scalable robot simulation framework
Eric Rohmer, Surya PN Singh, and Marc Freese · 2013
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Reducing the barrier to entry of complex robotic software: a moveit! case study
David Coleman, Ioan Sucan, Sachin Chitta, and Nikolaus Correll · 2014
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Raft: Recurrent all-pairs field transforms for optical flow
Zachary Teed and Jia Deng · 2020
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Coarse-to-fine imitation learning: Robot manipulation from a single demonstration
Edward Johns · 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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Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
Stephen James, Kentaro Wada, Tristan Laidlow, and Andrew J Davison · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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Pointnext: Revisiting pointnet++ with improved training and scaling strategies
Guocheng Qian, Yuchen Li, Houwen Peng, Jinjie Mai, Hasan Hammoud, Mohamed Elhoseiny, and Bernard Ghanem · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
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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, 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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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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Act3d: 3d feature field transformers for multi-task robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Polarnet: 3d point clouds for language-guided robotic manipulation
Shizhe Chen, Ricardo Garcia Pinel, Cordelia Schmid, and Ivan Laptev · 2023
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M2t2: Multi-task masked transformer for object-centric pick and place
Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2023
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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
Towards generalizable vision-language robotic manipulation: A benchmark and llm-guided 3d policy
Ricardo Garcia, Shizhe Chen, and Cordelia Schmid · 2024
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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 · 2024
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Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
Chi-Lam Cheang, Guangzeng Chen, Ya Jing, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Hongtao Wu, Jiafeng Xu, Yichu Yang, et al · 2024
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Unleashing large-scale video generative pre-training for visual robot manipulation
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2024
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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.
Instruction-driven history-aware policies for robotic manipulations
Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, and Cordelia Schmid · 2023
Cited alongside, same era.
Scaling open-vocabulary object detection
Matthias Minderer, Alexey Gritsenko, and Neil Houlsby · 2023
Cited alongside, same era.
Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C. Berg, Wan-Yen Lo, Piotr Dollár, and Ross Girshick · 2023
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.
Qwen2-vl: Enhancing vision-language model’s perception of the world at any resolution
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
Cited alongside, same era.
Prismatic vlms: Investigating the design space of visually-conditioned language models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
Cited alongside, same era.
Yueru Jia, Jiaming Liu, Sixiang Chen, Chenyang Gu, Zhilue Wang, Longzan Luo, Lily Lee, Pengwei Wang, Zhongyuan Wang, Renrui Zhang, et al · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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Gemma: Open models based on gemini research and technology
Gemma Team, Thomas Mesnard, Cassidy Hardin, Robert Dadashi, Surya Bhupatiraju, Shreya Pathak, Laurent Sifre, Morgane Rivière, Mihir Sanjay Kale, Juliette Love, et al · 2024
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Point transformer v3: Simpler faster stronger
Xiaoyang Wu, Li Jiang, Peng-Shuai Wang, Zhijian Liu, Xihui Liu, Yu Qiao, Wanli Ouyang, Tong He, and Hengshuang Zhao · 2024
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Llama 3 model card
AI@Meta · 2024
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\ π 0 \backslash\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
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Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, et al · 2025
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π \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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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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Gr-mg: Leveraging partially-annotated data via multi-modal goal-conditioned policy
Peiyan Li, Hongtao Wu, Yan Huang, Chilam Cheang, Liang Wang, and Tao Kong · 2025
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Fp3: A 3d foundation policy for robotic manipulation
Rujia Yang, Geng Chen, Chuan Wen, and Yang Gao · 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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