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Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation.
Deep visual foresight for planning robot motion
Chelsea Finn and Sergey Levine · 2017
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The" something something" video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, et al · 2017
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David Ha and Jürgen Schmidhuber · 2018
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Scalable deep reinforcement learning for vision-based robotic manipulation
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, et al · 2018
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Dream to control: Learning behaviors by latent imagination
Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 2019
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Learning latent dynamics for planning from pixels
Danijar Hafner, Timothy Lillicrap, Ian Fischer, Ruben Villegas, David Ha, Honglak Lee, and James Davidson · 2019
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Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 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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Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2022
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A path towards autonomous machine intelligence version 0.9. 2, 2022-06-27
Yann LeCun · 2022
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What matters in language conditioned robotic imitation learning over unstructured data
Oier Mees, Lukas Hermann, and Wolfram Burgard · 2022
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Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 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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Movq: Modulating quantized vectors for high-fidelity image generation
Chuanxia Zheng, Tung-Long Vuong, Jianfei Cai, and Dinh Phung · 2022
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 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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Playfusion: Skill acquisition via diffusion from language-annotated play
Lili Chen, Shikhar Bahl, and Deepak Pathak · 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
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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
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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, Xiaodi Yuan, Pengwei Xie, Zhiao Huang, Rui Chen, and Hao Su · 2023
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Gaia-1: A generative world model for autonomous driving
Anthony Hu, Lloyd Russell, Hudson Yeo, Zak Murez, George Fedoseev, Alex Kendall, Jamie Shotton, and Gianluca Corrado · 2023
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Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al · 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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Fmb: a functional manipulation benchmark for generalizable robotic learning
Jianlan Luo, Charles Xu, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, and Sergey Levine · 2023
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Kosmos-2: Grounding multimodal large language models to the world
Zhiliang Peng, Wenhui Wang, Li Dong, Yaru Hao, Shaohan Huang, Shuming Ma, and Furu Wei · 2023
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Latent plans for task-agnostic offline reinforcement learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, and Wolfram Burgard · 2023
Cited alongside, same era.
Mutex: Learning unified policies from multimodal task specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 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.
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
Cited alongside, same era.
Daydreamer: World models for physical robot learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, and Ken Goldberg · 2023
Cited alongside, same era.
Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, et al · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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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
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Predictive inverse dynamics models are scalable learners for robotic manipulation
Yang Tian, Sizhe Yang, Jia Zeng, Ping Wang, Dahua Lin, Hao Dong, and Jiangmiao Pang · 2024
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Mengjiao Yang, Yilun Du, Kamyar Ghasemipour, Jonathan Tompson, Dale Schuurmans, and Pieter Abbeel · 2023
Cited alongside, same era.
Train offline, test online: A real robot learning benchmark
Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama, Aravind Rajeswaran, Jyothish Pari, Kyle Hatch, Aryan Jain, Tianhe Yu, Pieter Abbeel, Lerrel Pinto, et al · 2023
Cited alongside, same era.
Viola: Imitation learning for vision-based manipulation with object proposal priors
Yifeng Zhu, Abhishek Joshi, Peter Stone, and Yuke Zhu · 2023
Cited alongside, same era.
Dream to manipulate: Compositional world models empowering robot imitation learning with imagination
Leonardo Barcellona, Andrii Zadaianchuk, Davide Allegro, Samuele Papa, Stefano Ghidoni, and Efstratios Gavves · 2024
Cited alongside, same era.
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
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.
Track2act: Predicting point tracks from internet videos enables diverse zero-shot robot manipulation
Homanga Bharadhwaj, Roozbeh Mottaghi, Abhinav Gupta, and Shubham Tulsiani · 2024
Cited alongside, same era.
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
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Drivedreamer: Towards real-world-drive world models for autonomous driving
Xiaofeng Wang, Zheng Zhu, Guan Huang, Xinze Chen, Jiagang Zhu, and Jiwen Lu · 2024
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Emu3: Next-token prediction is all you need
Xinlong Wang, Xiaosong Zhang, Zhengxiong Luo, Quan Sun, Yufeng Cui, Jinsheng Wang, Fan Zhang, Yueze Wang, Zhen Li, Qiying Yu, et al · 2024
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Driving into the future: Multiview visual forecasting and planning with world model for autonomous driving
Yuqi Wang, Jiawei He, Lue Fan, Hongxin Li, Yuntao Chen, and Zhaoxiang Zhang · 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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3d-vla: A 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 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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Robodreamer: Learning compositional world models for robot imagination
Siyuan Zhou, Yilun Du, Jiaben Chen, Yandong Li, Dit-Yan Yeung, and Chuang Gan · 2024
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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
Closest in time.
Humanoid-vla: Towards universal humanoid control with visual integration
Pengxiang Ding, Jianfei Ma, Xinyang Tong, Binghong Zou, Xinxin Luo, Yiguo Fan, Ting Wang, Hongchao Lu, Panzhong Mo, Jinxin Liu, et al · 2025
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Adaworld: Learning adaptable world models with latent actions
Shenyuan Gao, Siyuan Zhou, Yilun Du, Jun Zhang, and Chuang Gan · 2025
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Deepseek-r1: Incentivizing reasoning capability in llms via reinforcement learning
Daya Guo, Dejian Yang, Haowei Zhang, Junxiao Song, Ruoyu Zhang, Runxin Xu, Qihao Zhu, Shirong Ma, Peiyi Wang, Xiao Bi, et al · 2025
Closest in time.
\ \backslash 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
Closest in time.
Fine-tuning vision-language-action models: Optimizing speed and success
Moo Jin Kim, Chelsea Finn, and Percy Liang · 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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Shuang Li, Yihuai Gao, Dorsa Sadigh, and Shuran Song · 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
Closest in time.
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
Closest in time.
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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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, et al · 2025
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Up-vla: A unified understanding and prediction model for embodied agent
Jianke Zhang, Yanjiang Guo, Yucheng Hu, Xiaoyu Chen, Xiang Zhu, and Jianyu Chen · 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
Closest in time.