VLA-0: Building State-of-the-Art VLAs with Zero Modification

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

Earlier work this paper cites.

Act3d: 3d feature field transformers for multi-task robotic manipulation

Original

Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023

Earlier work this paper cites.

Rvt: Robotic view transformer for 3d object manipulation

Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023

Earlier work this paper cites.

Libero: Benchmarking knowledge transfer for lifelong robot learning

Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2023

Earlier work this paper cites.

Learning fine-grained bimanual manipulation with low-cost hardware

Original

Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023

Earlier work this paper cites.

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

Earlier work this paper cites.

Lerobot: State-of-the-art machine learning for real-world robotics in pytorch

Remi Cadene, Simon Alibert, Alexander Soare, Quentin Gallouedec, Adil Zouitine, Steven Palma, Pepijn Kooijmans, Michel Aractingi, Mustafa Shukor, Dana Aubakirova, Martino Russi, Francesco Capuano, Caroline Pascal, Jade Choghari, Jess Moss, and Thomas Wolf · 2024

Earlier work this paper cites.

Rvt-2: Learning precise manipulation from few demonstrations

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, and Dieter Fox · 2024

Earlier work this paper cites.

Openvla: An open-source vision-language-action model

Original

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.

Llarva: Vision-action instruction tuning enhances robot learning

Original

Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, and Roei Herzig · 2024

Cited alongside, same era.

3d-mvp: 3d multiview pretraining for robotic manipulation

Shengyi Qian, Kaichun Mo, Valts Blukis, David F Fouhey, Dieter Fox, and Ankit Goyal · 2024

Cited alongside, same era.

Qwen2. 5 technical report

A Yang Qwen, Baosong Yang, B Zhang, B Hui, B Zheng, B Yu, Chengpeng Li, D Liu, F Huang, H Wei, et al · 2024

Cited alongside, same era.

Octo: An open-source generalist robot policy

Original

Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024

π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization

Original

Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, et al · 2025

Closest in time.

Fine-tuning vision-language-action models: Optimizing speed and success

Original

Moo Jin Kim, Chelsea Finn, and Percy Liang · 2025

Closest in time.

Molmoact: Action reasoning models that can reason in space

Original

Jason Lee, Jiafei Duan, Haoquan Fang, Yuquan Deng, Shuo Liu, Boyang Li, Bohan Fang, Jieyu Zhang, Yi Ru Wang, Sangho Lee, et al · 2025

Closest in time.

Hamster: Hierarchical action models for open-world robot manipulation

Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, et al · 2025

Closest in time.

Fast: Efficient action tokenization for vision-language-action models