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We present WorldVLA, an autoregressive action world model that unifies action and image understanding and generation.
Learning representations by back-propagating errors
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Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Neural machine translation of rare words with subword units
Rico Sennrich, Barry Haddow, and Alexandra Birch · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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David Ha and Jürgen Schmidhuber · 2018
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An image is worth 16x16 words: Transformers for image recognition at scale
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Taming transformers for high-resolution image synthesis
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Learning transferable visual models from natural language supervision
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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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Make-a-scene: Scene-based text-to-image generation with human priors
Oran Gafni, Adam Polyak, Oron Ashual, Shelly Sheynin, Devi Parikh, and Yaniv Taigman · 2022
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Compositional foundation models for hierarchical planning
Anurag Ajay, Seungwook Han, Yilun Du, Shuang Li, Abhi Gupta, Tommi Jaakkola, Josh Tenenbaum, Leslie Kaelbling, Akash Srivastava, and Pulkit Agrawal · 2023
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Stable video diffusion: Scaling latent video diffusion models to large datasets
Andreas Blattmann, Tim Dockhorn, Sumith Kulal, Daniel Mendelevitch, Maciej Kilian, Dominik Lorenz, Yam Levi, Zion English, Vikram Voleti, Adam Letts, 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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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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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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An embodied generalist agent in 3d world
Jiangyong Huang, Silong Yong, Xiaojian Ma, Xiongkun Linghu, Puhao Li, Yan Wang, Qing Li, Song-Chun Zhu, Baoxiong Jia, and Siyuan Huang · 2023
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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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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 · 2023
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Magvit: Masked generative video transformer
Lijun Yu, Yong Cheng, Kihyuk Sohn, José Lezama, Han Zhang, Huiwen Chang, Alexander G Hauptmann, Ming-Hsuan Yang, Yuan Hao, Irfan Essa, et al · 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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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Amir Bar, Gaoyue Zhou, Danny Tran, Trevor Darrell, and Yann LeCun · 2024
Metamorph: Multimodal understanding and generation via instruction tuning
Shengbang Tong, David Fan, Jiachen Zhu, Yunyang Xiong, Xinlei Chen, Koustuv Sinha, Michael Rabbat, Yann LeCun, Saining Xie, and Zhuang Liu · 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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Diffusion-vla: Scaling robot foundation models via unified diffusion and autoregression
Junjie Wen, Minjie Zhu, Yichen Zhu, Zhibin Tang, Jinming Li, Zhongyi Zhou, Chengmeng Li, Xiaoyu Liu, Yaxin Peng, Chaomin Shen, et al · 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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Minivla: A better vla with a smaller footprint, 2024
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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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Closed-loop visuomotor control with generative expectation for robotic manipulation
Qingwen Bu, Jia Zeng, Li Chen, Yanchao Yang, Guyue Zhou, Junchi Yan, Ping Luo, Heming Cui, Yi Ma, and Hongyang Li · 2024
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Using left and right brains together: Towards vision and language planning
Jun Cen, Chenfei Wu, Xiao Liu, Shengming Yin, Yixuan Pei, Jinglong Yang, Qifeng Chen, Nan Duan, and Jianguo Zhang · 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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Zhi Hou, Tianyi Zhang, Yuwen Xiong, Hengjun Pu, Chengyang Zhao, Ronglei Tong, Yu Qiao, Jifeng Dai, and Yuntao Chen · 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 Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Transfusion: Predict the next token and diffuse images with one multi-modal model
Chunting Zhou, Lili Yu, Arun Babu, Kushal Tirumala, Michihiro Yasunaga, Leonid Shamis, Jacob Kahn, Xuezhe Ma, Luke Zettlemoyer, and Omer Levy · 2024
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Cosmos world foundation model platform for physical ai
Niket Agarwal, Arslan Ali, Maciej Bala, Yogesh Balaji, Erik Barker, Tiffany Cai, Prithvijit Chattopadhyay, Yongxin Chen, Yin Cui, Yifan Ding, et al · 2025
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Pre-trained video generative models as world simulators
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pi0.5: a vision-language-action model with open-world generalization
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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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Unified video action model
Shuang Li, Yihuai Gao, Dorsa Sadigh, and Shuran Song · 2025
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Fast: Efficient action tokenization for vision-language-action models
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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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ivideogpt: Interactive videogpts are scalable world models
Jialong Wu, Shaofeng Yin, Ningya Feng, Xu He, Dong Li, Jianye Hao, and Mingsheng Long · 2025
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Videollama 3: Frontier multimodal foundation models for image and video understanding
Boqiang Zhang, Kehan Li, Zesen Cheng, Zhiqiang Hu, Yuqian Yuan, Guanzheng Chen, Sicong Leng, Yuming Jiang, Hang Zhang, Xin Li, et al · 2025
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