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Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions.
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Sqil: Imitation learning via reinforcement learning with sparse rewards
Siddharth Reddy, Anca D Dragan, and Sergey Levine · 2019
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Efficientnet
Brett Koonce · 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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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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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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Flashattention: Fast and memory-efficient exact attention with io-awareness
Tri Dao, Dan Fu, Stefano Ermon, Atri Rudra, and Christopher Ré · 2022
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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 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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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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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
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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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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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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
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Mamba: Linear-time sequence modeling with selective state spaces
Albert Gu and Tri Dao · 2023
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Pythia: A suite for analyzing large language models across training and scaling
Stella Biderman, Hailey Schoelkopf, Quentin Gregory Anthony, Herbie Bradley, Kyle O’Brien, Eric Hallahan, Mohammad Aflah Khan, Shivanshu Purohit, USVSN Sai Prashanth, Edward Raff, et al · 2023
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Jinze Bai, Shuai Bai, Yunfei Chu, Zeyu Cui, Kai Dang, Xiaodong Deng, Yang Fan, Wenbin Ge, Yu Han, Fei Huang, 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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Instructblip: Towards general-purpose vision-language models with instruction tuning
Wenliang Dai, Junnan Li, Dongxu Li, Anthony Tiong, Junqi Zhao, Weisheng Wang, Boyang Li, Pascale N Fung, and Steven Hoi · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Bitnet: Scaling 1-bit transformers for large language models
Hongyu Wang, Shuming Ma, Li Dong, Shaohan Huang, Huaijie Wang, Lingxiao Ma, Fan Yang, Ruiping Wang, Yi Wu, and Furu Wei · 2023
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Fast inference from transformers via speculative decoding
Yaniv Leviathan, Matan Kalman, and Yossi Matias · 2023
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Accelerating transformer inference for translation via parallel decoding
Andrea Santilli, Silvio Severino, Emilian Postolache, Valentino Maiorca, Michele Mancusi, Riccardo Marin, and Emanuele Rodolà · 2023
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A survey on model compression for large language models
Xunyu Zhu, Jian Li, Yong Liu, Can Ma, and Weiping Wang · 2024
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A survey on vision-language-action models for embodied ai (2024)
Yueen Ma, Zixing Song, Yuzheng Zhuang, Jianye Hao, and Irwin King · 2024
Can Cui, Pengxiang Ding, Wenxuan Song, Shuanghao Bai, Xinyang Tong, Zirui Ge, Runze Suo, Wanqi Zhou, Yang Liu, Bofang Jia, et al · 2025
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Fast-in-slow: A dual-system foundation model unifying fast manipulation within slow reasoning
Hao Chen, Jiaming Liu, Chenyang Gu, Zhuoyang Liu, Renrui Zhang, Xiaoqi Li, Xiao He, Yandong Guo, Chi-Wing Fu, Shanghang Zhang, et al · 2025
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Hume: Introducing system-2 thinking in visual-language-action model
Haoming Song, Delin Qu, Yuanqi Yao, Qizhi Chen, Qi Lv, Yiwen Tang, Modi Shi, Guanghui Ren, Maoqing Yao, Bin Zhao, et al · 2025
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Hypervla: Efficient inference in vision-language-action models via hypernetworks
Zheng Xiong, Kang Li, Zilin Wang, Matthew Jackson, Jakob Foerster, and Shimon Whiteson · 2025
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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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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
Chi-Lam Cheang, Guangzeng Chen, Ya Jing, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Hongtao Wu, Jiafeng Xu, Yichu Yang, et al · 2024
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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
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 2024
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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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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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Rt-cache: Efficient robot trajectory retrieval system
Owen Kwon, Abraham George, Alison Bartsch, and Amir Barati Farimani · 2025
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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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Titong Jiang, Xuefeng Jiang, Yuan Ma, Xin Wen, Bailin Li, Kun Zhan, Peng Jia, Yahui Liu, Sheng Sun, and Xianpeng Lang · 2025
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Action-aware dynamic pruning for efficient vision-language-action manipulation
Xiaohuan Pei, Yuxing Chen, Siyu Xu, Yunke Wang, Yuheng Shi, and Chang Xu · 2025
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Fastdrivevla: Efficient end-to-end driving via plug-and-play reconstruction-based token pruning
Jiajun Cao, Qizhe Zhang, Peidong Jia, Xuhui Zhao, Bo Lan, Xiaoan Zhang, Xiaobao Wei, Sixiang Chen, Zhuo Li, Yang Wang, et al · 2025
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Specprune-vla: Accelerating vision-language-action models via action-aware self-speculative pruning
Hanzhen Wang, Jiaming Xu, Jiayi Pan, Yongkang Zhou, and Guohao Dai · 2025
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Hengyu Fang, Yijiang Liu, Yuan Du, Li Du, and Huanrui Yang · 2025
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Otter: A vision-language-action model with text-aware visual feature extraction
Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, and Pieter Abbeel · 2025
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Unified vision-language-action model
Yuqi Wang, Xinghang Li, Wenxuan Wang, Junbo Zhang, Yingyan Li, Yuntao Chen, Xinlong Wang, and Zhaoxiang Zhang · 2025
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Siyu Xu, Yunke Wang, Chenghao Xia, Dihao Zhu, Tao Huang, and Chang Xu · 2025
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Ttf-vla: Temporal token fusion via pixel-attention integration for vision-language-action models
Chenghao Liu, Jiachen Zhang, Chengxuan Li, Zhimu Zhou, Shixin Wu, Songfang Huang, and Huiling Duan · 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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Real-time execution of action chunking flow policies
Kevin Black, Manuel Y Galliker, and Sergey Levine · 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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Omnisat: Compact action token, faster auto regression
Huaihai Lyu, Chaofan Chen, Senwei Xie, Pengwei Wang, Xiansheng Chen, Shanghang Zhang, and Changsheng Xu · 2025
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Vote: vision-language-action optimization with trajectory ensemble voting
Juyi Lin, Amir Taherin, Arash Akbari, Arman Akbari, Lei Lu, Guangyu Chen, Taskin Padir, Xiaomeng Yang, Weiwei Chen, Yiqian Li, et al · 2025
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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
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Training strategies for efficient embodied reasoning
William Chen, Suneel Belkhale, Suvir Mirchandani, Oier Mees, Danny Driess, Karl Pertsch, and Sergey Levine · 2025
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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
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Dreamvla: a vision-language-action model dreamed with comprehensive world knowledge
Wenyao Zhang, Hongsi Liu, Zekun Qi, Yunnan Wang, Xinqiang Yu, Jiazhao Zhang, Runpei Dong, Jiawei He, He Wang, Zhizheng Zhang, et al · 2025
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Ceed-vla: Consistency vision-language-action model with early-exit decoding
Wenxuan Song, Jiayi Chen, Pengxiang Ding, Yuxin Huang, Han Zhao, Donglin Wang, and Haoang Li · 2025
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Vita-vla: Efficiently teaching vision-language models to act via action expert distillation
Shaoqi Dong, Chaoyou Fu, Haihan Gao, Yi-Fan Zhang, Chi Yan, Chu Wu, Xiaoyu Liu, Yunhang Shen, Jing Huo, Deqiang Jiang, et al · 2025
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Vita-1.5: Towards gpt-4o level real-time vision and speech interaction
Chaoyou Fu, Haojia Lin, Xiong Wang, Yi-Fan Zhang, Yunhang Shen, Xiaoyu Liu, Haoyu Cao, Zuwei Long, Heting Gao, Ke Li, et al · 2025
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Don’t run with scissors: Pruning breaks vla models but they can be recovered
Jason Jabbour, Dong-Ki Kim, Max Smith, Jay Patrikar, Radhika Ghosal, Youhui Wang, Ali Agha, Vijay Janapa Reddi, and Shayegan Omidshafiei · 2025
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Bitvla: 1-bit vision-language-action models for robotics manipulation
Hongyu Wang, Chuyan Xiong, Ruiping Wang, and Xilin 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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Spec-vla: speculative decoding for vision-language-action models with relaxed acceptance
Songsheng Wang, Rucheng Yu, Zhihang Yuan, Chao Yu, Feng Gao, Yu Wang, and Derek F Wong · 2025
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Accelerating vision-language-action model integrated with action chunking via parallel decoding
Wenxuan Song, Jiayi Chen, Pengxiang Ding, Han Zhao, Wei Zhao, Zhide Zhong, Zongyuan Ge, Jun Ma, and Haoang Li · 2025
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