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Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift.
Dream to control: Learning behaviors by latent imagination
Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 1912
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Reinforcement learning by reward-weighted regression for operational space control
Jan Peters and Stefan Schaal · 2007
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Efficient reductions for imitation learning
Stéphane Ross and Drew Bagnell · 2010
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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The unreasonable effectiveness of deep features as a perceptual metric
Richard Zhang, Phillip Isola, Alexei A Efros, Eli Shechtman, and Oliver Wang · 2018
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Causal confusion in imitation learning
Pim De Haan, Dinesh Jayaraman, and Sergey Levine · 2019
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, and Ilya Sutskever · 2019
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Taming transformers for high-resolution image synthesis
Patrick Esser, Robin Rombach, and Bjorn Ommer · 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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Video diffusion models
Jonathan Ho, Tim Salimans, Alexey Gritsenko, William Chan, Mohammad Norouzi, and David J Fleet · 2022
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, Weizhu Chen, et al · 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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Training language models to follow instructions with human feedback
Long Ouyang, Jeffrey Wu, Xu Jiang, Diogo Almeida, Carroll Wainwright, Pamela Mishkin, Chong Zhang, Sandhini Agarwal, Katarina Slama, Alex Ray, et al · 2022
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Curious exploration via structured world models yields zero-shot object manipulation
Cansu Sancaktar, Sebastian Blaes, and Georg Martius · 2022
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V-jepa: Latent video prediction for visual representation learning
Adrien Bardes, Quentin Garrido, Jean Ponce, Xinlei Chen, Michael Rabbat, Yann LeCun, Mido Assran, and Nicolas Ballas · 2023
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Stable video diffusion: Scaling latent video diffusion models to large datasets
Andreas Blattmann, Tim Dockhorn, Sumith Kulal, Daniel Mendelevitch, Maciej Kilian, Dominik Lorenz, Yam Levi, Zion English, Vikram Voleti, Adam Letts, 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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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
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Mastering diverse domains through world models
Danijar Hafner, Jurgis Pasukonis, Jimmy Ba, and Timothy Lillicrap · 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
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 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
Cited alongside, same era.
Daydreamer: World models for physical robot learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, and Ken Goldberg · 2023
Cited alongside, same era.
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.
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.
Quar-vla: Vision-language-action model for quadruped robots
Pengxiang Ding, Han Zhao, Wenjie Zhang, Wenxuan Song, Min Zhang, Siteng Huang, Ningxi Yang, and Donglin Wang · 2024
V-jepa 2: Self-supervised video models enable understanding, prediction and planning
Mido Assran, Adrien Bardes, David Fan, Quentin Garrido, Russell Howes, Matthew Muckley, Ammar Rizvi, Claire Roberts, Koustuv Sinha, Artem Zholus, et al · 2025
Closest in time.
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
Closest in time.
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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Rlrc: Reinforcement learning-based recovery for compressed vision-language-action models
Yuxuan Chen and Xiao Li · 2025
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Cited alongside, same era.
Is behavior cloning all you need? understanding horizon in imitation learning
Dylan J Foster, Adam Block, and Dipendra Misra · 2024
Cited alongside, same era.
Octo: An open-source generalist robot policy
Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
Cited alongside, same era.
Carp: Visuomotor policy learning via coarse-to-fine autoregressive prediction
Zhefei Gong, Pengxiang Ding, Shangke Lyu, Siteng Huang, Mingyang Sun, Wei Zhao, Zhaoxin Fan, and Donglin Wang · 2024
Cited alongside, same era.
Video prediction policy: A generalist robot policy with predictive visual representations
Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, and Jianyu Chen · 2024
Cited alongside, same era.
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
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, et al · 2024
Cited alongside, same era.
Fld: Fourier latent dynamics for structured motion representation and learning
Chenhao Li, Elijah Stanger-Jones, Steve Heim, and Sangbae Kim · 2024
Cited alongside, same era.
Can Cui, Pengxiang Ding, Wenxuan Song, Shuanghao Bai, Xinyang Tong, Zirui Ge, Runze Suo, Wanqi Zhou, Yang Liu, Bofang Jia, et al · 2025
Closest in time.
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
Closest in time.
Long-vla: Unleashing long-horizon capability of vision language action model for robot manipulation
Yiguo Fan, Pengxiang Ding, Shuanghao Bai, Xinyang Tong, Yuyang Zhu, Hongchao Lu, Fengqi Dai, Wei Zhao, Yang Liu, Siteng Huang, et al · 2025
Closest in time.
Improving vision-language-action model with online reinforcement learning
Yanjiang Guo, Jianke Zhang, Xiaoyu Chen, Xiang Ji, Yen-Jen Wang, Yucheng Hu, and Jianyu Chen · 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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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
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Vla-rl: Towards masterful and general robotic manipulation with scalable reinforcement learning
Guanxing Lu, Wenkai Guo, Chubin Zhang, Yuheng Zhou, Haonan Jiang, Zifeng Gao, Yansong Tang, and Ziwei Wang · 2025
Closest in time.
Spatialvla: Exploring spatial representations for visual-language-action model
Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, et al · 2025
Closest in time.
Hybridflow: A flexible and efficient rlhf framework
Guangming Sheng, Chi Zhang, Zilingfeng Ye, Xibin Wu, Wang Zhang, Ru Zhang, Yanghua Peng, Haibin Lin, and Chuan Wu · 2025
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Rftf: Reinforcement fine-tuning for embodied agents with temporal feedback
Junyang Shu, Zhiwei Lin, and Yongtao Wang · 2025
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Interactive post-training for vision-language-action models
Shuhan Tan, Kairan Dou, Yue Zhao, and Philipp Krähenbühl · 2025
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Vla-adapter: An effective paradigm for tiny-scale vision-language-action model
Yihao Wang, Pengxiang Ding, Lingxiao Li, Can Cui, Zirui Ge, Xinyang Tong, Wenxuan Song, Han Zhao, Wei Zhao, Pengxu Hou, Siteng Huang, Yifan Tang, Wenhui Wang, Ru Zhang, Jianyi Liu, and Donglin Wang · 2025
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A vision-language-action-critic model for robotic real-world reinforcement learning, 2025
Shaopeng Zhai, Qi Zhang, Tianyi Zhang, Fuxian Huang, Haoran Zhang, Ming Zhou, Shengzhe Zhang, Litao Liu, Sixu Lin, and Jiangmiao Pang · 2025
Closest in time.
Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, et al · 2025
Closest in time.
Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2025
Closest in time.
Flowvla: Thinking in motion with a visual chain of thought
Zhide Zhong, Haodong Yan, Junfeng Li, Xiangchen Liu, Xin Gong, Wenxuan Song, Jiayi Chen, and Haoang Li · 2025
Closest in time.