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Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data.
Exploring the limits of transfer learning with a unified text-to-text transformer, 2023
Colin Raffel, Noam Shazeer, Adam Roberts, Katherine Lee, Sharan Narang, Michael Matena, Yanqi Zhou, Wei Li, and Peter J. Liu · 1910
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An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale, June 2021
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, Jakob Uszkoreit, and Neil Houlsby · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning, 2011
Stephane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2011
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Action-Conditional Video Prediction using Deep Networks in Atari Games, December 2015
Junhyuk Oh, Xiaoxiao Guo, Honglak Lee, Richard Lewis, and Satinder Singh · 2015
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Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images, November 2015
Manuel Watter, Jost Tobias Springenberg, Joschka Boedecker, and Martin Riedmiller · 2015
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Unsupervised learning for physical interaction through video prediction
Chelsea Finn, Ian Goodfellow, and Sergey Levine · 2016
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Learning Visual Predictive Models of Physics for Playing Billiards, January 2016
Katerina Fragkiadaki, Pulkit Agrawal, Sergey Levine, and Jitendra Malik · 2016
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Deep Visual Foresight for Planning Robot Motion, March 2017
Chelsea Finn and Sergey Levine · 2017
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Neural ordinary differential equations, 2019
Ricky T. Q. Chen, Yulia Rubanova, Jesse Bettencourt, and David Duvenaud · 2019
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Decoupled weight decay regularization, 2019
Ilya Loshchilov and Frank Hutter · 2019
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Denoising Diffusion Probabilistic Models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Learning latent plans from play
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, and Pierre Sermanet · 2020
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Emerging Properties in Self-Supervised Vision Transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
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Lora: Low-rank adaptation of large language models, 2021
Edward J. Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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What matters in language conditioned robotic imitation learning over unstructured data
Oier Mees, Lukas Hermann, and Wolfram Burgard · 2022
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A Generalist Agent
Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gómez Colmenarejo, Alexander Novikov, Gabriel Barth-maron, Mai Giménez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, and Nando de Freitas · 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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Robocat: A self-improving generalist agent for robotic manipulation
Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X Lee, Maria Bauzá, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, et al · 2023
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Flow Matching for Generative Modeling, February 2023
Yaron Lipman, Ricky T. Q. Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2023
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Libero: Benchmarking knowledge transfer for lifelong robot learning, 2023
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, 2023
William Peebles and Saining Xie · 2023
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware, April 2023
Tony Z. Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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Rad: Training an end-to-end driving policy via large-scale 3dgs-based reinforcement learning, 2025
Hao Gao, Shaoyu Chen, Bo Jiang, Bencheng Liao, Yiang Shi, Xiaoyang Guo, Yuechuan Pu, Haoran Yin, Xiangyu Li, Xinbang Zhang, Ying Zhang, Wenyu Liu, Qian Zhang, and Xinggang Wang · 2025
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Ctrl-world: A controllable generative world model for robot manipulation, 2025
Yanjiang Guo, Lucy Xiaoyang Shi, Jianyu Chen, and Chelsea Finn · 2025
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Ghil-glue: Hierarchical control with filtered subgoal images
Kyle Beltran Hatch, Ashwin Balakrishna, Oier Mees, Suraj Nair, Seohong Park, Blake Wulfe, Masha Itkina, Benjamin Eysenbach, Sergey Levine, Thomas Kollar, and Benjamin Burchfiel · 2025
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Chi-Pin Huang, Yueh-Hua Wu, Min-Hung Chen, Yu-Chiang Frank Wang, and Fu-En Yang · 2025
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Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, Thomas Unterthiner, Daniel Keysers, Skanda Koppula, Fangyu Liu, Adam Grycner, Alexey Gritsenko, Neil Houlsby, Manoj Kumar, Keran Rong, Julian Eisenschlos, Rishabh Kabra, Matthias Bauer, Matko Bošnjak, Xi Chen, Matthias Minderer, Paul Voigtlaender, Ioana Bica, Ivana Balazevic, Joan Puigcerver, Pinelopi Papalampidi, Olivier Henaff, Xi Xiong, Radu Soricut, Jeremiah Harmsen, and Xiaohua Zhai · 2024
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Video generation models as world simulators, March 2024
OpenAI · 2024
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Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, and Ury Zhilinsky · 2025
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Video Generators are Robot Policies, August 2025
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mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity, June 2025
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Fast: Efficient action tokenization for vision-language-action models
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Strengthening Generative Robot Policies through Predictive World Modeling, May 2025
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Moritz Reuss, Hongyi Zhou, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Otto, and Rudolf Lioutikov · 2025
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Video models are zero-shot learners and reasoners, September 2025
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Latent Action Pretraining from Videos, May 2025
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, and Minjoon Seo · 2025
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Robotic Control via Embodied Chain-of-Thought Reasoning, March 2025
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CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models, March 2025
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Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, and Abhishek Gupta · 2025
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