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Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations.
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Richard S Sutton, Andrew G Barto, et al · 1998
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Unsupervised learning of depth and ego-motion from video
Tinghui Zhou, Matthew Brown, Noah Snavely, and David G Lowe · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Df-net: Unsupervised joint learning of depth and flow using cross-task consistency
Yuliang Zou, Zelun Luo, and Jia-Bin Huang · 2018
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Improving language understanding by generative pre-training
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Scanrefer: 3d object localization in rgb-d scans using natural language
Dave Zhenyu Chen, Angel X Chang, and Matthias Nießner · 2020
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Learnable fourier features for multi-dimensional spatial positional encoding
Yang Li, Si Si, Gang Li, Cho-Jui Hsieh, and Samy Bengio · 2021
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Crossvit: Cross-attention multi-scale vision transformer for image classification
Chun-Fu Richard Chen, Quanfu Fan, and Rameswar Panda · 2021
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Scan2cap: Context-aware dense captioning in rgb-d scans
Zhenyu Chen, Ali Gholami, Matthias Nießner, and Angel X Chang · 2021
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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, Arthur Mensch, Katie Millican, David Moore, Michael Needham, et al · 2022
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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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BLIP: Bootstrapping language-image pre-training for unified vision-language understanding and generation
Junnan Li, Dongxu Li, Caiming Xiong, and Steven Hoi · 2022
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Scanqa: 3d question answering for spatial scene understanding
Daichi Azuma, Taiki Miyanishi, Shuhei Kurita, and Motoaki Kawanabe · 2022
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Lora: Low-rank adaptation of large language models
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Pali: A jointly-scaled multilingual language-image model
Mandy Chen, Adams Wei Yu, Hamid Palangi, Paul Smolensky, Yinfei Yang, Xiaowei Yuan, Kathy Meier-Hellstern, Jianfeng Gao, Ed Chi, et al · 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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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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Improved visual instruction tuning for image-text alignment
Haotian Liu, Pengchuan Zhang, Jianwei Yang, and Lei Zhang · 2023
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BLIP-2: Bootstrapping language-image pre-training with frozen image encoders and large language models
Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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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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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 · 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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Pre-training auto-regressive robotic models with 4d representations
Dantong Niu, Yuvan Sharma, Haoru Xue, Giscard Biamby, Junyi Zhang, Ziteng Ji, Trevor Darrell, and Roei Herzig · 2025
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4d-vla: Spatiotemporal vision-language-action pretraining with cross-scene calibration
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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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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
Cited alongside, same era.
Multi3drefer: Grounding text description to multiple 3d objects
Yiming Zhang, ZeMing Gong, and Angel X Chang · 2023
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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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Volumetric environment representation for vision-language navigation
Rui Liu, Wenguan Wang, and Yi Yang · 2024
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Vision-and-language navigation via causal learning
Liuyi Wang, Zongtao He, Ronghao Dang, Mengjiao Shen, Chengju Liu, and Qijun Chen · 2024
Cited alongside, same era.
π 0 \pi_{0} : 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.
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 · 2024
Cited alongside, same era.
Jiahui Zhang, Yurui Chen, Yueming Xu, Ze Huang, Yanpeng Zhou, Yu-Jie Yuan, Xinyue Cai, Guowei Huang, Xingyue Quan, Hang Xu, et al · 2025
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Llava-4d: Embedding spatiotemporal prompt into lmms for 4d scene understanding
Hanyu Zhou and Gim Hee Lee · 2025
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Zewei Zhou, Tianhui Cai, Seth Z Zhao, Yun Zhang, Zhiyu Huang, Bolei Zhou, and Jiaqi Ma · 2025
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Simplevla-rl: Scaling vla training via reinforcement learning
Haozhan Li, Yuxin Zuo, Jiale Yu, Yuhao Zhang, Zhaohui Yang, Kaiyan Zhang, Xuekai Zhu, Yuchen Zhang, Tianxing Chen, Ganqu Cui, et al · 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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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Zhibin Tang, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, et al · 2025
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3ds-vla: A 3d spatial-aware vision language action model for robust multi-task manipulation
Xiaoqi Li, Liang Heng, Jiaming Liu, Yan Shen, Chenyang Gu, Zhuoyang Liu, Hao Chen, Nuowei Han, Renrui Zhang, Hao Tang, et al · 2025
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Helong Huang, Min Cen, Kai Tan, Xingyue Quan, Guowei Huang, and Hong Zhang · 2025
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4d visual pre-training for robot learning
Chengkai Hou, Yanjie Ze, Yankai Fu, Zeyu Gao, Songbo Hu, Yue Yu, Shanghang Zhang, and Huazhe Xu · 2025
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Vggt: Visual geometry grounded transformer
Jianyuan Wang, Minghao Chen, Nikita Karaev, Andrea Vedaldi, Christian Rupprecht, and David Novotny · 2025
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Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, et al · 2025
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Uni4d-llm: A unified spatiotemporal-aware vlm for 4d understanding and generation
Hanyu Zhou and Gim Hee Lee · 2025
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Llafea: Frame-event complementary fusion for fine-grained spatiotemporal understanding in lmms
Hanyu Zhou and Gim Hee Lee · 2025
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