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Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components.
Hybrid position/force control of manipulators
Marc H Raibert and John J Craig · 1981
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Impedance control: An approach to manipulation: Part ii—implementation
Neville Hogan · 1985
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Proportional-integral-derivative control
Mark J Willis · 1999
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Tactile motion instructions for physical activities
Daniel Spelmezan, Mareike Jacobs, Anke Hilgers, and Jan Borchers · 2009
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More than a feeling: Learning to grasp and regrasp using vision and touch
Roberto Calandra, Andrew Owens, Dinesh Jayaraman, Justin Lin, Wenzhen Yuan, Jitendra Malik, Edward H Adelson, and Sergey Levine · 2018
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Dense tactile force estimation using gelslim and inverse fem
Daolin Ma, Elliott Donlon, Siyuan Dong, and Alberto Rodriguez · 2019
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Convolutional autoencoder for feature extraction in tactile sensing
Marsela Polic, Ivona Krajacic, Nathan Lepora, and Matko Orsag · 2019
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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 · 2020
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Deep reinforcement learning for industrial insertion tasks with visual inputs and natural rewards
Gerrit Schoettler, Ashvin Nair, Jianlan Luo, Shikhar Bahl, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2020
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Tactile-rl for insertion: Generalization to objects of unknown geometry
Siyuan Dong, Devesh K Jha, Diego Romeres, Sangwoon Kim, Daniel Nikovski, and Alberto Rodriguez · 2021
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Cable manipulation with a tactile-reactive gripper
Yu She, Shaoxiong Wang, Siyuan Dong, Neha Sunil, Alberto Rodriguez, and Edward Adelson · 2021
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Gelsight wedge: Measuring high-resolution 3d contact geometry with a compact robot finger
Shaoxiong Wang, Yu She, Branden Romero, and Edward Adelson · 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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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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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
Cited alongside, same era.
Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, et al · 2023
Cited alongside, same era.
Grounded decoding: Guiding text generation with grounded models for embodied agents
Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, et al · 2023
Cited alongside, same era.
General in-hand object rotation with vision and touch
Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, and Jitendra Malik · 2023
Cited alongside, same era.
Visuotactile affordances for cloth manipulation with local control
Neha Sunil, Shaoxiong Wang, Yu She, Edward Adelson, and Alberto Rodriguez Garcia · 2023
Cited alongside, same era.
Learning precise, contact-rich manipulation through uncalibrated tactile skins
Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, and Raunaq Bhirangi · 2024
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Yell at your robot: Improving on-the-fly from language corrections
Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, and Chelsea Finn · 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
Later among the works it cites.
Vlm see, robot do: Human demo video to robot action plan via vision language model
Beichen Wang, Juexiao Zhang, Shuwen Dong, Irving Fang, and Chen Feng · 2024
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
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.
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
Cited alongside, same era.
Measuring and improving chain-of-thought reasoning in vision-language models
Yangyi Chen, Karan Sikka, Michael Cogswell, Heng Ji, and Ajay Divakaran · 2024
Cited alongside, same era.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
Cited alongside, same era.
Look before you leap: Unveiling the power of gpt-4v in robotic vision-language planning
Yingdong Hu, Fanqi Lin, Tong Zhang, Li Yi, and Yang Gao · 2024
Cited alongside, same era.
Learning visuotactile skills with two multifingered hands
Toru Lin, Yu Zhang, Qiyang Li, Haozhi Qi, Brent Yi, Sergey Levine, and Jitendra Malik · 2024
Cited alongside, same era.
Ruohong Zhang, Bowen Zhang, Yanghao Li, Haotian Zhang, Zhiqing Sun, Zhe Gan, Yinfei Yang, Ruoming Pang, and Yiming Yang · 2024
Later among the works it cites.
Tla: Tactile-language-action model for contact-rich manipulation
Peng Hao, Chaofan Zhang, Dingzhe Li, Xiaoge Cao, Xiaoshuai Hao, Shaowei Cui, and Shuo Wang · 2025
Closest in time.
Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding
Joshua Jones, Oier Mees, Carmelo Sferrazza, Kyle Stachowicz, Pieter Abbeel, and Sergey Levine · 2025
Closest in time.
Onetwovla: A unified vision-language-action model with adaptive reasoning
Fanqi Lin, Ruiqian Nai, Yingdong Hu, Jiacheng You, Junming Zhao, and Yang Gao · 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.
Enhancing physical human-robot interaction: Recognizing digits via intrinsic robot tactile sensing
Teresa Sinico, Giovanni Boschetti, and Pedro Neto · 2025
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Dexvla: Vision-language model with plug-in diffusion expert for general robot control
Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen, and Feifei Feng · 2025
Closest in time.
Reactive diffusion policy: Slow-fast visual-tactile policy learning for contact-rich manipulation
Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Yuan Fang, Guoying Gu, Huazhe Xu, and Cewu Lu · 2025
Closest in time.
Forcevla: Enhancing vla models with a force-aware moe for contact-rich manipulation
Jiawen Yu, Hairuo Liu, Qiaojun Yu, Jieji Ren, Ce Hao, Haitong Ding, Guangyu Huang, Guofan Huang, Yan Song, Panpan Cai, et al · 2025
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