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Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities.
Movement: how the brain communicates with the world
Andrew B Schwartz · 2016
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Hierarchical motor control in mammals and machines
Josh Merel, Matthew Botvinick, and Greg Wayne · 2019
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Remembrance of things practiced with fast and slow learning in cortical and subcortical pathways
James M Murray and G Sean Escola · 2020
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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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Contextual transformer for offline meta reinforcement learning
Runji Lin, Ye Li, Xidong Feng, Zhaowei Zhang, Xian Hong Wu Fung, Haifeng Zhang, Jun Wang, Yali Du, and Yaodong Yang · 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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A ddpg-based solution for optimal consensus of continuous-time linear multi-agent systems
Ye Li, ZhongXin Liu, Ge Lan, Malika Sader, and ZengQiang Chen · 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-h: Action hierarchies using language
Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quon Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, and Dorsa Sadigh · 2024
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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
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An image is worth 1/2 tokens after layer 2: Plug-and-play inference acceleration for large vision-language models
Liang Chen, Haozhe Zhao, Tianyu Liu, Shuai Bai, Junyang Lin, Chang Zhou, and Baobao Chang · 2024
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Helix: A vision-language-action model for generalist humanoid control
Figure AI · 2024
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A dual process vla: Efficient robotic manipulation leveraging vlm, 2024
ByungOk Han, Jaehong Kim, and Jinhyeok Jang · 2024
Cited alongside, same era.
Fopru: Focal pruning for efficient large vision-language models
Lei Jiang, Weizhe Huang, Tongxuan Liu, Yuting Zeng, Jing Li, Lechao Cheng, and Xiaohua Xu · 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.
Learning-to-cache: Accelerating diffusion transformer via layer caching
Xinyin Ma, Gongfan Fang, Michael Bi Mi, and Xinchao Wang · 2024
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Cache me if you can: Accelerating diffusion models through block caching
Felix Wimbauer, Bichen Wu, Edgar Schoenfeld, Xiaoliang Dai, Ji Hou, Zijian He, Artsiom Sanakoyeu, Peizhao Zhang, Sam Tsai, Jonas Kohler, et al · 2024
Later among the works it cites.
Visionzip: Longer is better but not necessary in vision language models
Senqiao Yang, Yukang Chen, Zhuotao Tian, Chengyao Wang, Jingyao Li, Bei Yu, and Jiaya Jia · 2024
Later among the works it cites.
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.
Hirt: Enhancing robotic control with hierarchical robot transformers
Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, and Jianyu Chen · 2024
Later among the works it cites.
π 0.5 \pi_{0.5} : A vision-language-action model with open-world generalization
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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.
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.
Quantization-aware imitation-learning for resource-efficient robotic control
Seongmin Park, Hyungmin Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, and Jungwook Choi · 2024
Cited alongside, same era.
Llava-prumerge: Adaptive token reduction for efficient large multimodal models
Yuzhang Shang, Mu Cai, Bingxin Xu, Yong Jae Lee, and Yan Yan · 2024
Cited alongside, same era.
Retraining-free model quantization via one-shot weight-coupling learning
Chen Tang, Yuan Meng, Jiacheng Jiang, Shuzhao Xie, Rongwei Lu, Xinzhu Ma, Zhi Wang, and Wenwu Zhu · 2024
Cited alongside, same era.
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
Cited alongside, same era.
Fastvlm: Efficient vision encoding for vision language models
Pavan Kumar Anasosalu Vasu, Fartash Faghri, Chun-Liang Li, Cem Koc, Nate True, Albert Antony, Gokul Santhanam, James Gabriel, Peter Grasch, Oncel Tuzel, et al · 2024
Cited alongside, same era.
Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, et al
Cited in the paper.
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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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
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Hi robot: Open-ended instruction following with hierarchical vision-language-action models
Lucy Xiaoyang Shi, Brian Ichter, Michael Equi, Liyiming Ke, Karl Pertsch, Quan Vuong, James Tanner, Anna Walling, Haohuan Wang, Niccolo Fusai, et al · 2025
Closest in time.
Wenxuan Song, Jiayi Chen, Pengxiang Ding, Han Zhao, Wei Zhao, Zhide Zhong, Zongyuan Ge, Jun Ma, and Haoang Li · 2025
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Siyu Xu, Yunke Wang, Chenghao Xia, Dihao Zhu, Tao Huang, and Chang Xu · 2025
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Efficientvla: Training-free acceleration and compression for vision-language-action models
Yantai Yang, Yuhao Wang, Zichen Wen, Luo Zhongwei, Chang Zou, Zhipeng Zhang, Chuan Wen, and Linfeng Zhang · 2025
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