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Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs).
Pose estimation and map building with a time-of-flight-camera for robot navigation
A Prusak, O Melnychuk, H Roth, Ingo Schiller, and Reinhard Koch · 2008
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Pose estimation and adaptive robot behaviour for human-robot interaction
Mikael Svenstrup, Soren Tranberg, Hans Jorgen Andersen, and Thomas Bak · 2009
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Pose estimation for an autonomous vehicle using monocular vision
Nikunj Kothari, Misha Gupta, Leena Vachhani, and Hemendra Arya · 2017
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Multi-objective convolutional neural networks for robot localisation and 3d position estimation in 2d camera images
Justinas Miseikis, Inka Brijacak, Saeed Yahyanejad, Kyrre Glette, Ole Jakob Elle, and Jim Torresen · 2018
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3d robot pose estimation from 2d images
Christoph Heindl, Sebastian Zambal, Thomas Ponitz, Andreas Pichler, and Josef Scharinger · 2019
Earlier work this paper cites.
Privacy-preserving pose estimation for human-robot interaction
Youya Xia, Yifan Tang, Yuhan Hu, and Guy Hoffman · 2020
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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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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
Earlier work this paper cites.
Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 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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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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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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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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Blip: Bootstrapping language-image pre-training for unified vision-language understanding and generation
Junnan Li, Dongxu Li, Caiming Xiong, and Steven Hoi · 2022
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Robots’ state estimation and observability analysis based on statistical motion models
Wei Xu, Dongjiao He, Yixi Cai, and Fu Zhang · 2022
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models
Quan Vuong, Sergey Levine, Homer Rich Walke, Karl Pertsch, Anikait Singh, Ria Doshi, Charles Xu, Jianlan Luo, Liam Tan, Dhruv Shah, et al · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
Cited alongside, same era.
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
p i _ 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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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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Octo: An open-source generalist robot policy
Oier Mees, Dibya Ghosh, Karl Pertsch, Kevin Black, Homer Rich Walke, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, et al · 2024
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Rvt-2: Learning precise manipulation from few demonstrations
Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, and Dieter Fox · 2024
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Cited alongside, same era.
Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
Cited alongside, same era.
Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
Cited alongside, same era.
Openflamingo: An open-source framework for training large autoregressive vision-language models
Anas Awadalla, Irena Gao, Josh Gardner, Jack Hessel, Yusuf Hanafy, Wanrong Zhu, Kalyani Marathe, Yonatan Bitton, Samir Gadre, Shiori Sagawa, et al · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Learning human-to-robot handovers from point clouds
Sammy Christen, Wei Yang, Claudia Pérez-D’Arpino, Otmar Hilliges, Dieter Fox, and Yu-Wei Chao · 2023
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.
Llava-onevision: Easy visual task transfer
Bo Li, Yuanhan Zhang, Dong Guo, Renrui Zhang, Feng Li, Hao Zhang, Kaichen Zhang, Peiyuan Zhang, Yanwei Li, Ziwei Liu, et al · 2024
Cited alongside, same era.
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Towards generalist robot policies: What matters in building vision-language-action models
Xinghang Li, Peiyan Li, Minghuan Liu, Dong Wang, Jirong Liu, Bingyi Kang, Xiao Ma, Tao Kong, Hanbo Zhang, and Huaping Liu · 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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Llara: Supercharging robot learning data for vision-language policy
Xiang Li, Cristina Mata, Jongwoo Park, Kumara Kahatapitiya, Yoo Sung Jang, Jinghuan Shang, Kanchana Ranasinghe, Ryan Burgert, Mu Cai, Yong Jae Lee, et al · 2024
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Real-time holistic robot pose estimation with unknown states
Shikun Ban, Juling Fan, Xiaoxuan Ma, Wentao Zhu, Yu Qiao, and Yizhou Wang · 2024
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An Yang, Baosong Yang, Beichen Zhang, Binyuan Hui, Bo Zheng, Bowen Yu, Chengyuan Li, Dayiheng Liu, Fei Huang, Haoran Wei, et al · 2024
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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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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Zhibin Tang, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, et al · 2025
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Towards fast, memory-based and data-efficient vision-language policy
Haoxuan Li, Sixu Yan, Yuhan Li, and Xinggang Wang · 2025
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Rongyu Zhang, Menghang Dong, Yuan Zhang, Liang Heng, Xiaowei Chi, Gaole Dai, Li Du, Yuan Du, and Shanghang Zhang · 2025
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An atomic skill library construction method for data-efficient embodied manipulation
Dongjiang Li, Bo Peng, Chang Li, Ning Qiao, Qi Zheng, Lei Sun, Yusen Qin, Bangguo Li, Yifeng Luan, Bo Wu, et al · 2025
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