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The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation.
Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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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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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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Analog bits: Generating discrete data using diffusion models with self-conditioning
Ting Chen, Ruixiang Zhang, and Geoffrey Hinton · 2022
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Diffuseq: Sequence to sequence text generation with diffusion models
Shansan Gong, Mukai Li, Jiangtao Feng, Zhiyong Wu, and LingPeng Kong · 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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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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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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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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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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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
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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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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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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 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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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Discrete diffusion modeling by estimating the ratios of the data distribution
Aaron Lou, Chenlin Meng, and Stefano Ermon · 2023
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Tess: Text-to-text self-conditioned simplex diffusion
Rabeeh Karimi Mahabadi, Hamish Ivison, Jaesung Tae, James Henderson, Iz Beltagy, Matthew E Peters, and Arman Cohan · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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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
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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
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, et al · 2024
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Your absorbing discrete diffusion secretly models the conditional distributions of clean data
Jingyang Ou, Shen Nie, Kaiwen Xue, Fengqi Zhu, Jiacheng Sun, Zhenguo Li, and Chongxuan Li · 2024
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Simple and effective masked diffusion language models
Subham Sahoo, Marianne Arriola, Yair Schiff, Aaron Gokaslan, Edgar Marroquin, Justin Chiu, Alexander Rush, and Volodymyr Kuleshov · 2024
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Simplified and generalized masked diffusion for discrete data
Jiaxin Shi, Kehang Han, Zhe Wang, Arnaud Doucet, and Michalis Titsias · 2024
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Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2024
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Jiasheng Ye, Zaixiang Zheng, Yu Bao, Lihua Qian, and Mingxuan Wang · 2023
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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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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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Scaling rectified flow transformers for high-resolution image synthesis
Patrick Esser, Sumith Kulal, Andreas Blattmann, Rahim Entezari, Jonas Müller, Harry Saini, Yam Levi, Dominik Lorenz, Axel Sauer, Frederic Boesel, et al · 2024
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Scaling diffusion language models via adaptation from autoregressive models
Shansan Gong, Shivam Agarwal, Yizhe Zhang, Jiacheng Ye, Lin Zheng, Mukai Li, Chenxin An, Peilin Zhao, Wei Bi, Jiawei Han, 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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Prismatic vlms: Investigating the design space of visually-conditioned language models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
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Llada-medv: Exploring large language diffusion models for biomedical image understanding
Xuanzhao Dong, Wenhui Zhu, Xiwen Chen, Zhipeng Wang, Peijie Qiu, Shao Tang, Xin Li, and Yalin Wang · 2025
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Fast ecot: Efficient embodied chain-of-thought via thoughts reuse
Zhekai Duan, Yuan Zhang, Shikai Geng, Gaowen Liu, Joschka Boedecker, and Chris Xiaoxuan Lu · 2025
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Lavida: A large diffusion language model for multimodal understanding
Shufan Li, Konstantinos Kallidromitis, Hritik Bansal, Akash Gokul, Yusuke Kato, Kazuki Kozuka, Jason Kuen, Zhe Lin, Kai-Wei Chang, and Aditya Grover · 2025
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Zhixuan Liang, Yizhuo Li, Tianshuo Yang, Chengyue Wu, Sitong Mao, Liuao Pei, Xiaokang Yang, Jiangmiao Pang, Yao Mu, and Ping Luo · 2025
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Longllada: Unlocking long context capabilities in diffusion llms
Xiaoran Liu, Zhigeng Liu, Zengfeng Huang, Qipeng Guo, Ziwei He, and Xipeng Qiu · 2025
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dllm-cache: Accelerating diffusion large language models with adaptive caching
Zhiyuan Liu, Yicun Yang, Yaojie Zhang, Junjie Chen, Chang Zou, Qingyuan Wei, Shaobo Wang, and Linfeng Zhang · 2025
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Large language diffusion models
Shen Nie, Fengqi Zhu, Zebin You, Xiaolu Zhang, Jingyang Ou, Jun Hu, Jun Zhou, Yankai Lin, Ji-Rong Wen, and Chongxuan Li · 2025
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Michael Tschannen, Alexey Gritsenko, Xiao Wang, Muhammad Ferjad Naeem, Ibrahim Alabdulmohsin, Nikhil Parthasarathy, Talfan Evans, Lucas Beyer, Ye Xia, Basil Mustafa, et al · 2025
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Mmada: Multimodal large diffusion language models
Ling Yang, Ye Tian, Bowen Li, Xinchen Zhang, Ke Shen, Yunhai Tong, and Mengdi Wang · 2025
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Dream 7b: Diffusion large language models
Jiacheng Ye, Zhihui Xie, Lin Zheng, Jiahui Gao, Zirui Wu, Xin Jiang, Zhenguo Li, and Lingpeng Kong · 2025
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Llada-v: Large language diffusion models with visual instruction tuning
Zebin You, Shen Nie, Xiaolu Zhang, Jun Hu, Jun Zhou, Zhiwu Lu, Ji-Rong Wen, and Chongxuan Li · 2025
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Diffa: Large language diffusion models can listen and understand
Jiaming Zhou, Hongjie Chen, Shiwan Zhao, Jian Kang, Jie Li, Enzhi Wang, Yujie Guo, Haoqin Sun, Hui Wang, Aobo Kong, et al · 2025
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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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Llada 1.5: Variance-reduced preference optimization for large language diffusion models
Fengqi Zhu, Rongzhen Wang, Shen Nie, Xiaolu Zhang, Chunwei Wu, Jun Hu, Jun Zhou, Jianfei Chen, Yankai Lin, Ji-Rong Wen, et al · 2025
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