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Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics.
A new algorithm for data compression
Philip Gage · 1994
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Discrete cosine transform
Nasir Ahmed, T_ Natarajan, and Kamisetty R Rao · 2006
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Structured denoising diffusion models in discrete state-spaces
Jacob Austin, Daniel D Johnson, Jonathan Ho, Daniel Tarlow, and Rianne Van Den Berg · 2021
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On the opportunities and risks of foundation models
Rishi Bommasani, Drew A Hudson, Ehsan Adeli, Russ Altman, Simran Arora, Sydney von Arx, Michael S Bernstein, Jeannette Bohg, Antoine Bosselut, Emma Brunskill, et al · 2021
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, 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, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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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 · 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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Chameleon: Plug-and-play compositional reasoning with large language models
Pan Lu, Baolin Peng, Hao Cheng, Michel Galley, Kai-Wei Chang, Ying Nian Wu, Song-Chun Zhu, and Jianfeng Gao · 2023
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Language model beats diffusion–tokenizer is key to visual generation
Lijun Yu, José Lezama, Nitesh B Gundavarapu, Luca Versari, Kihyuk Sohn, David Minnen, Yong Cheng, Vighnesh Birodkar, Agrim Gupta, Xiuye Gu, et al · 2023
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π 0 \pi_{0} : A vision-language-action flow model for general robot control, 2024
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, and Ury Zhilinsky · 2024
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Scaling instruction-finetuned language models
Hyung Won Chung, Le Hou, Shayne Longpre, Barret Zoph, Yi Tay, William Fedus, Yunxuan Li, Xuezhi Wang, Mostafa Dehghani, Siddhartha Brahma, et al · 2024
Cited alongside, same era.
Zhi Hou, Tianyi Zhang, Yuwen Xiong, Hengjun Pu, Chengyang Zhao, Ronglei Tong, Yu Qiao, Jifeng Dai, and Yuntao Chen · 2024
Cited alongside, same era.
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, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
Cited alongside, same era.
Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
Cited alongside, same era.
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
Closest in time.
Graspvla: a grasping foundation model pre-trained on billion-scale synthetic action data
Shengliang Deng, Mi Yan, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Wenhao Zhang, et al · 2025
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Humanoid-vla: Towards universal humanoid control with visual integration
Pengxiang Ding, Jianfei Ma, Xinyang Tong, Binghong Zou, Xinxin Luo, Yiguo Fan, Ting Wang, Hongchao Lu, Panzhong Mo, Jinxin Liu, et al · 2025
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Knowledge insulating vision-language-action models: Train fast, run fast, generalize better
Danny Driess, Jost Tobias Springenberg, Brian Ichter, Lili Yu, Adrian Li-Bell, Karl Pertsch, Allen Z Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, et al · 2025
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Subham Sahoo, Marianne Arriola, Yair Schiff, Aaron Gokaslan, Edgar Marroquin, Justin Chiu, Alexander Rush, and Volodymyr Kuleshov · 2024
Cited alongside, same era.
Gemma: Open models based on gemini research and technology
Gemma Team, Thomas Mesnard, Cassidy Hardin, Robert Dadashi, Surya Bhupatiraju, Shreya Pathak, Laurent Sifre, Morgane Rivière, Mihir Sanjay Kale, Juliette Love, et al · 2024
Cited alongside, same era.
Qwen Team · 2024
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Qwen2-vl: Enhancing vision-language model’s perception of the world at any resolution
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
Cited alongside, same era.
Diffusionvla: Scaling robot foundation models via unified diffusion and autoregression
Junjie Wen, Minjie Zhu, Yichen Zhu, Zhibin Tang, Jinming Li, Chengmeng Li, Zhongyi Zhou, Xiaoyu Liu, Chaomin Shen, Yaxin Peng, and Feifei Feng · 2024
Cited alongside, same era.
Show-o: One single transformer to unify multimodal understanding and generation
Jinheng Xie, Weijia Mao, Zechen Bai, David Junhao Zhang, Weihao Wang, Kevin Qinghong Lin, Yuchao Gu, Zhijie Chen, Zhenheng Yang, and Mike Zheng Shou · 2024
Cited alongside, same era.
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
Cited alongside, same era.
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
Cited alongside, same era.
Dong Guo, Faming Wu, Feida Zhu, Fuxing Leng, Guang Shi, Haobin Chen, Haoqi Fan, Jian Wang, Jianyu Jiang, Jiawei Wang, et al · 2025
Closest in time.
π \pi 0. 5: a vision-language-action model with open-world generalization, 2025
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, 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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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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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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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
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Gemini robotics: Bringing ai into the physical world
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, 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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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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