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Recent works explore how real and synthetic data contribute to Vision-Language-Action (VLA) models' generalization.
Rlbench: The robot learning benchmark & learning environment
S. James, Z. Ma, D. R. Arrojo, and A. J. Davison · 2020
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Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
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Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
O. Mees, L. Hermann, E. Rosete-Beas, and W. Burgard · 2022
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Objaverse: A universe of annotated 3d objects
M. Deitke, D. Schwenk, J. Salvador, L. Weihs, O. Michel, E. VanderBilt, L. Schmidt, K. Ehsani, A. Kembhavi, and A. Farhadi · 2023
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Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
H.-S. Fang, C. Wang, H. Fang, M. Gou, J. Liu, H. Yan, W. Liu, Y. Xie, and C. Lu · 2023
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Gapartnet: Cross-category domain-generalizable object perception and manipulation via generalizable and actionable parts
H. Geng, H. Xu, C. Zhao, C. Xu, L. Yi, S. Huang, and H. Wang · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
J. Gu, F. Xiang, X. Li, Z. Ling, X. Liu, T. Mu, Y. Tang, S. Tao, X. Wei, Y. Yao, et al · 2023
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Libero: Benchmarking knowledge transfer for lifelong robot learning
B. Liu, Y. Zhu, C. Gao, Y. Feng, Q. Liu, Y. Zhu, and P. Stone · 2023
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Mimicgen: A data generation system for scalable robot learning using human demonstrations
A. Mandlekar, S. Nasiriany, B. Wen, I. Akinola, Y. Narang, L. Fan, Y. Zhu, and D. Fox · 2023
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curobo: Parallelized collision-free minimum-jerk robot motion generation, 2023
B. Sundaralingam, S. K. S. Hari, A. Fishman, C. Garrett, K. V. Wyk, V. Blukis, A. Millane, H. Oleynikova, A. Handa, F. Ramos, N. Ratliff, and D. Fox · 2023
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Bridgedata v2: A dataset for robot learning at scale
H. R. Walke, K. Black, T. Z. Zhao, Q. Vuong, C. Zheng, P. Hansen-Estruch, A. W. He, V. Myers, M. J. Kim, M. Du, et al · 2023
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Omniobject3d: Large-vocabulary 3d object dataset for realistic perception, reconstruction and generation
T. Wu, J. Zhang, X. Fu, Y. Wang, J. Ren, L. Pan, W. Wu, L. Yang, J. Wang, C. Qian, et al · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
B. Zitkovich, T. Yu, S. Xu, P. Xu, T. Xiao, F. Xia, J. Wu, P. Wohlhart, S. Welker, A. Wahid, et al · 2023
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Paligemma: A versatile 3b vlm for transfer
L. Beyer, A. Steiner, A. S. Pinto, A. Kolesnikov, X. Wang, D. Salz, M. Neumann, I. Alabdulmohsin, M. Tschannen, E. Bugliarello, et al · 2024
Cited alongside, same era.
π 0 \pi_{0} : A vision-language-action flow model for general robot control
K. Black, N. Brown, D. Driess, A. Esmail, M. Equi, C. Finn, N. Fusai, L. Groom, K. Hausman, B. Ichter, et al · 2024
Cited alongside, same era.
Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
C.-L. Cheang, G. Chen, Y. Jing, T. Kong, H. Li, Y. Li, Y. Liu, H. Wu, J. Xu, Y. Yang, et al · 2024
Cited alongside, same era.
Vertex block descent
A. H. Chen, Z. Liu, Y. Yang, and C. Yuksel · 2024
Cited alongside, same era.
Graspvla: a grasping foundation model pre-trained on billion-scale synthetic action data
S. Deng, M. Yan, S. Wei, H. Ma, Y. Yang, J. Chen, Z. Zhang, T. Yang, X. Zhang, W. Zhang, et al · 2024
Cited alongside, same era.
Gr00t n1: An open foundation model for generalist humanoid robots
J. Bjorck, F. Castañeda, N. Cherniadev, X. Da, R. Ding, L. Fan, Y. Fang, D. Fox, F. Hu, S. Huang, et al · 2025
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Gr-3 technical report
C. Cheang, S. Chen, Z. Cui, Y. Hu, L. Huang, T. Kong, H. Li, Y. Li, Y. Liu, X. Ma, et al · 2025
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Openhelix: A short survey, empirical analysis, and open-source dual-system vla model for robotic manipulation
C. Cui, P. Ding, W. Song, S. Bai, X. Tong, Z. Ge, R. Suo, W. Zhou, Y. Liu, B. Jia, et al · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
P. Intelligence, K. Black, N. Brown, J. Darpinian, K. Dhabalia, D. Driess, A. Esmail, M. Equi, C. Finn, N. Fusai, et al · 2025
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Galaxea open-world dataset and g0 dual-system vla model
T. Jiang, T. Yuan, Y. Liu, C. Lu, J. Cui, X. Liu, S. Cheng, J. Gao, H. Xu, and H. Zhao · 2025
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P. Hua, M. Liu, A. Macaluso, Y. Lin, W. Zhang, H. Xu, and L. Wang · 2024
Cited alongside, same era.
Droid: A large-scale in-the-wild robot manipulation dataset
A. Khazatsky, K. Pertsch, S. Nair, A. Balakrishna, S. Dasari, S. Karamcheti, S. Nasiriany, M. K. Srirama, L. Y. Chen, K. Ellis, et al · 2024
Cited alongside, same era.
Openvla: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, G. Lam, P. Sanketi, et al · 2024
Cited alongside, same era.
Robocasa: Large-scale simulation of everyday tasks for generalist robots
S. Nasiriany, A. Maddukuri, L. Zhang, A. Parikh, A. Lo, A. Joshi, A. Mandlekar, and Y. Zhu · 2024
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
A. O’Neill, A. Rehman, A. Maddukuri, A. Gupta, A. Padalkar, A. Lee, A. Pooley, A. Gupta, A. Mandlekar, A. Jain, et al · 2024
Cited alongside, same era.
Grutopia: Dream general robots in a city at scale
H. Wang, J. Chen, W. Huang, Q. Ben, T. Wang, B. Mi, T. Huang, S. Zhao, Y. Chen, S. Yang, et al · 2024
Cited alongside, same era.
Robomind: Benchmark on multi-embodiment intelligence normative data for robot manipulation
K. Wu, C. Hou, J. Liu, Z. Che, X. Ju, Z. Yang, M. Li, Y. Zhao, Z. Xu, G. Yang, et al · 2024
Cited alongside, same era.
Z. Jin, Z. Che, Z. Zhao, K. Wu, Y. Zhang, Y. Zhao, Z. Liu, Q. Zhang, X. Ju, J. Tian, et al · 2025
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Cronusvla: Transferring latent motion across time for multi-frame prediction in manipulation
H. Li, S. Yang, Y. Chen, Y. Tian, X. Yang, X. Chen, H. Wang, T. Wang, F. Zhao, D. Lin, et al · 2025
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Infinite mobility: Scalable high-fidelity synthesis of articulated objects via procedural generation
X. Lian, Z. Yu, R. Liang, Y. Wang, L. R. Luo, K. Chen, Y. Zhou, Q. Tang, X. Xu, Z. Lyu, et al · 2025
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Eo-1: Interleaved vision-text-action pretraining for general robot control
D. Qu, H. Song, Q. Chen, Z. Chen, X. Gao, X. Ye, Q. Lv, M. Shi, G. Ren, C. Ruan, et al · 2025
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Predictive inverse dynamics models are scalable learners for robotic manipulation
Y. Tian, S. Yang, J. Zeng, P. Wang, D. Lin, H. Dong, and J. Pang · 2025
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Igniting vlms toward the embodied space
A. Zhai, B. Liu, B. Fang, C. Cai, E. Ma, E. Yin, H. Wang, H. Zhou, J. Wang, L. Shi, et al · 2025
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X-vla: Soft-prompted transformer as scalable cross-embodiment vision-language-action model
J. Zheng, J. Li, Z. Wang, D. Liu, X. Kang, Y. Feng, Y. Zheng, J. Zou, Y. Chen, J. Zeng, et al · 2025
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