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Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost.
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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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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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 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, 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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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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Rt-2: Vision-language-action models transfer web knowledge to robotic control, 2023
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2024
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An image is worth 1/2 tokens after layer 2: Plug-and-play inference acceleration for large vision-language models
Liang Chen, Haozhe Zhao, Tianyu Liu, Shuai Bai, Junyang Lin, Chang Zhou, and Baobao Chang · 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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Qixiu Li, Yaobo Liang, Zeyu Wang, Lin Luo, Xi Chen, Mozheng Liao, Fangyun Wei, Yu Deng, Sicheng Xu, Yizhong Zhang, et al · 2024
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Llava-next: Improved reasoning, ocr, and world knowledge, January 2024a
Haotian Liu, Chunyuan Li, Yuheng Li, Bo Li, Yuanhan Zhang, Sheng Shen, and Yong Jae Lee · 2024
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Cross-self kv cache pruning for efficient vision-language inference
Xiaohuan Pei, Tao Huang, and Chang Xu · 2024
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Nora: A small open-sourced generalist vision language action model for embodied tasks
Chia-Yu Hung, Qi Sun, Pengfei Hong, Amir Zadeh, Chuan Li, U Tan, Navonil Majumder, Soujanya Poria, et al · 2025
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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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Sp-vla: A joint model scheduling and token pruning approach for vla model acceleration
Ye Li, Yuan Meng, Zewen Sun, Kangye Ji, Chen Tang, Jiajun Fan, Xinzhu Ma, Shutao Xia, Zhi Wang, and Wenwu Zhu · 2025
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Smolvla: A vision-language-action model for affordable and efficient robotics
Mustafa Shukor, Dana Aubakirova, Francesco Capuano, Pepijn Kooijmans, Steven Palma, Adil Zouitine, Michel Aractingi, Caroline Pascal, Martino Russi, Andres Marafioti, et al · 2025
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Yang Yue, Yulin Wang, Bingyi Kang, Yizeng Han, Shenzhi Wang, Shiji Song, Jiashi Feng, and Gao Huang · 2024
Cited alongside, same era.
Sparsevlm: Visual token sparsification for efficient vision-language model inference
Yuan Zhang, Chun-Kai Fan, Junpeng Ma, Wenzhao Zheng, Tao Huang, Kuan Cheng, Denis Gudovskiy, Tomoyuki Okuno, Yohei Nakata, Kurt Keutzer, et al · 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
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Worldvla: Towards autoregressive action world model
Jun Cen, Chaohui Yu, Hangjie Yuan, Yuming Jiang, Siteng Huang, Jiayan Guo, Xin Li, Yibing Song, Hao Luo, Fan Wang, et al · 2025
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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
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Improved baselines with visual instruction tuning, 2023b
Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee
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Visual instruction tuning, 2023c
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee
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Robomamba: Multimodal state space model for efficient robot reasoning and manipulation
Jiaming Liu, Mengzhen Liu, Zhenyu Wang, Lily Lee, Kaichen Zhou, Pengju An, Senqiao Yang, Renrui Zhang, Yandong Guo, and Shanghang Zhang
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Xudong Tan, Yaoxin Yang, Peng Ye, Jialin Zheng, Bizhe Bai, Xinyi Wang, Jia Hao, and Tao Chen · 2025
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Siyu Xu, Yunke Wang, Chenghao Xia, Dihao Zhu, Tao Huang, and Chang Xu · 2025
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Efficientvla: Training-free acceleration and compression for vision-language-action models
Yantai Yang, Yuhao Wang, Zichen Wen, Luo Zhongwei, Chang Zou, Zhipeng Zhang, Chuan Wen, and Linfeng Zhang · 2025
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Rongyu Zhang, Menghang Dong, Yuan Zhang, Liang Heng, Xiaowei Chi, Gaole Dai, Li Du, Yuan Du, and Shanghang Zhang · 2025
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