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Vision-Language-Action (VLA) models have made substantial progress by leveraging the robust capabilities of Visual Language Models (VLMs).
Blockwise parallel decoding for deep autoregressive models
Mitchell Stern, Noam Shazeer, and Jakob Uszkoreit. 2018 · 2018
Earlier work this paper cites.
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, and 1 others. 2022 · 2022
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Confident adaptive language modeling
Tal Schuster, Adam Fisch, Jai Gupta, Mostafa Dehghani, Dara Bahri, Vinh Tran, Yi Tay, and Donald Metzler. 2022 · 2022
Earlier work this paper cites.
Speculative decoding: Exploiting speculative execution for accelerating seq2seq generation
H. Xia, T. Ge, P. Wang, and et al. 2022 · 2022
Earlier work this paper cites.
Picor: Multi-task deep reinforcement learning with policy correction
Fengshuo Bai, Hongming Zhang, Tianyang Tao, Zhiheng Wu, Yanna Wang, and Bo Xu. 2023 · 2023
Earlier work this paper cites.
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, and 1 others. 2023 · 2023
Earlier work this paper cites.
Accelerating large language model decoding with speculative sampling
Charlie Chen, Sebastian Borgeaud, Geoffrey Irving, Jean-Baptiste Lespiau, Laurent Sifre, and John Jumper. 2023 · 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 · 2023
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Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, and 1 others. 2023 · 2023
Earlier work this paper cites.
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, and 1 others. 2023 · 2023
Earlier work this paper cites.
Draft & verify: Lossless large language model acceleration via self-speculative decoding
Jun Zhang, Jue Wang, Huan Li, Lidan Shou, Ke Chen, Gang Chen, and Sharad Mehrotra. 2023 · 2023
Earlier work this paper cites.
Efficient preference-based reinforcement learning via aligned experience estimation
Fengshuo Bai, Rui Zhao, Hongming Zhang, Sijia Cui, Ying Wen, Yaodong Yang, Bo Xu, and Lei Han. 2024 · 2024
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Medusa: Simple llm inference acceleration framework with multiple decoding heads
Tianle Cai, Yuhong Li, Zhengyang Geng, Hongwu Peng, Jason D Lee, Deming Chen, and Tri Dao. 2024 · 2024
Cited alongside, same era.
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, and 1 others. 2024 · 2024
Cited alongside, same era.
On speculative decoding for multimodal large language models
Mukul Gagrani, Raghavv Goel, Wonseok Jeon, Junyoung Park, Mingu Lee, and Christopher Lott. 2024 · 2024
Cited alongside, same era.
Lantern: Accelerating visual autoregressive models with relaxed speculative decoding
Doohyuk Jang, Sihwan Park, June Yong Yang, Yeonsung Jung, Jihun Yun, Souvik Kundu, Sung-Yub Kim, and Eunho Yang. 2024 · 2024
Cited alongside, same era.
Speculative decoding with ctc-based draft model for llm inference acceleration
Zhuofan Wen, Shangtong Gui, and Yang Feng. 2024 · 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 · 2024
Later among the works it cites.
Rat: Adversarial attacks on deep reinforcement agents for targeted behaviors
Fengshuo Bai, Runze Liu, Yali Du, Ying Wen, and Yaodong Yang. 2025 · 2025
Closest in time.
Fine-tuning vision-language-action models: Optimizing speed and success
Moo Jin Kim, Chelsea Finn, and Percy Liang. 2025 · 2025
Closest in time.
Eagle-3: Scaling up inference acceleration of large language models via training-time test
Yuhui Li, Fangyun Wei, Chao Zhang, and Hongyang Zhang. 2025 · 2025
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Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, and 1 others. 2024 · 2024
Cited alongside, same era.
Cllms: Consistency large language models
Siqi Kou, Lanxiang Hu, Zhezhi He, Zhijie Deng, and Hao Zhang. 2024 · 2024
Cited alongside, same era.
Nearest neighbor speculative decoding for llm generation and attribution
M. Li, X. Chen, A. Holtzman, and et al. 2024a · 2024
Cited alongside, same era.
Mope-clip: Structured pruning for efficient vision-language models with module-wise pruning error metric
Haokun Lin, Haoli Bai, Zhili Liu, Lu Hou, Muyi Sun, Linqi Song, Ying Wei, and Zhenan Sun. 2024 · 2024
Cited alongside, same era.
A survey on vision-language-action models for embodied ai
Yueen Ma, Zixing Song, Yuzheng Zhuang, Jianye Hao, and Irwin King. 2024 · 2024
Cited alongside, same era.
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, and 1 others. 2024 · 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 · 2024
Cited alongside, same era.
Speculative rag: Enhancing retrieval augmented generation through drafting
Zilong Wang, Zifeng Wang, Long Le, Huaixiu Steven Zheng, Swaroop Mishra, Vincent Perot, Yuwei Zhang, Anush Mattapalli, Ankur Taly, Jingbo Shang, and 1 others. 2024 · 2024
Cited alongside, same era.
Closest in time.
What can rl bring to vla generalization? an empirical study
Jijia Liu, Feng Gao, Bingwen Wei, Xinlei Chen, Qingmin Liao, Yi Wu, Chao Yu, and Yu Wang. 2025 · 2025
Closest in time.
Sihwan Park, Doohyuk Jang, Sungyub Kim, Souvik Kundu, and Eunho Yang. 2025 · 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 · 2025
Closest in time.
Accelerating vision-language-action model integrated with action chunking via parallel decoding
Wenxuan Song, Jiayi Chen, Pengxiang Ding, Han Zhao, Wei Zhao, Zhide Zhong, Zongyuan Ge, Jun Ma, and Haoang Li. 2025 · 2025
Closest in time.
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, and 1 others. 2025 · 2025
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Longspec: Long-context speculative decoding with efficient drafting and verification
Penghui Yang, Cunxiao Du, Fengzhuo Zhang, Haonan Wang, Tianyu Pang, Chao Du, and Bo An. 2025 · 2025
Closest in time.
D3p: Dynamic denoising diffusion policy via reinforcement learning
Shu-Ang Yu, Feng Gao, Yi Wu, Chao Yu, and Yu Wang. 2025 · 2025
Closest in time.