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Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception and action.
Decoupled weight decay regularization, 2019
Ilya Loshchilov and Frank Hutter · 2019
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Zero: memory optimizations toward training trillion parameter models
Samyam Rajbhandari, Jeff Rasley, Olatunji Ruwase, and Yuxiong He · 2020
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Where did i leave my keys?—episodic-memory-based question answering on egocentric videos
Leonard Barmann and Alex Waibel · 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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Ego4D: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Egocentric video-language pretraining
Kevin Qinghong Lin, Jinpeng Wang, Mattia Soldan, Michael Wray, Rui Yan, Eric Z. XU, Difei Gao, Rong-Cheng Tu, Wenzhe Zhao, Weijie Kong, Chengfei Cai, WANG HongFa, Dima Damen, Bernard Ghanem, Wei Liu, and Mike Zheng Shou · 2022
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Rectified flow: A marginal preserving approach to optimal transport
Qiang Liu · 2022
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Rt-1: Robotics transformer for real-world control at scale, 2023
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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EgoVLPv2: Egocentric video-language pre-training with fusion in the backbone
Shraman Pramanick, Yale Song, Sayan Nag, Kevin Qinghong Lin, Hardik Shah, Mike Zheng Shou, Rama Chellappa, and Pengchuan Zhang · 2023
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Minigpt-4: Enhancing vision-language understanding with advanced large language models
Deyao Zhu, Jun Chen, Xiaoqian Shen, Xiang Li, and Mohamed Elhoseiny · 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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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
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EgoPlan-Bench: Benchmarking multimodal large language models for human-level planning
Yi Chen, Yuying Ge, Yixiao Ge, Mingyu Ding, Bohao Li, Rui Wang, Ruifeng Xu, Ying Shan, and Xihui Liu · 2024
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Egothink: Evaluating first-person perspective thinking capability of vision-language models
Sijie Cheng, Zhicheng Guo, Jingwen Wu, Kechen Fang, Peng Li, Huaping Liu, and Yang Liu · 2024
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The llama 3 herd of models
Abhimanyu Dubey, Abhinav Jauhri, Abhinav Pandey, Abhishek Kadian, Ahmad Al-Dahle, Aiesha Letman, Akhil Mathur, Alan Schelten, Amy Yang, Angela Fan, 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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OpenVLA: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan P Foster, Pannag R Sanketi, Quan Vuong, et al · 2024
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Improved baselines with visual instruction tuning
Haotian Liu, Chunyuan Li, Yuheng Li, and Yong Jae Lee · 2024
Cited alongside, same era.
RoboCasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 2024
Cited alongside, same era.
Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
Cited alongside, same era.
Egoplan-bench2: A benchmark for multimodal large language model planning in real-world scenarios
Lu Qiu, Yi Chen, Yuying Ge, Yixiao Ge, Ying Shan, and Xihui Liu · 2024
Cited alongside, same era.
Emma-x: An embodied multimodal action model with grounded chain of thought and look-ahead spatial reasoning, 2024
Qi Sun, Pengfei Hong, Tej Deep Pala, Vernon Toh, U-Xuan Tan, Deepanway Ghosal, and Soujanya Poria · 2024
Molmoact: Action reasoning models that can reason in space, 2025
Jason Lee, Jiafei Duan, Haoquan Fang, Yuquan Deng, Shuo Liu, Boyang Li, Bohan Fang, Jieyu Zhang, Yi Ru Wang, Sangho Lee, Winson Han, Wilbert Pumacay, Angelica Wu, Rose Hendrix, Karen Farley, Eli VanderBilt, Ali Farhadi, Dieter Fox, and Ranjay Krishna · 2025
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Mm-act: Learn from multimodal parallel generation to act, 2025
Haotian Liang, Xinyi Chen, Bin Wang, Mingkang Chen, Yitian Liu, Yuhao Zhang, Zanxin Chen, Tianshuo Yang, Yilun Chen, Jiangmiao Pang, Dong Liu, Xiaokang Yang, Yao Mu, Wenqi Shao, and Ping Luo · 2025
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Onetwovla: A unified vision-language-action model with adaptive reasoning, 2025
Fanqi Lin, Ruiqian Nai, Yingdong Hu, Jiacheng You, Junming Zhao, and Yang Gao · 2025
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Being-h0: Vision-language-action pretraining from large-scale human videos, 2025
Hao Luo, Yicheng Feng, Wanpeng Zhang, Sipeng Zheng, Ye Wang, Haoqi Yuan, Jiazheng Liu, Chaoyi Xu, Qin Jin, and Zongqing Lu · 2025
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Hybrid training for vision-language-action models, 2025
Pietro Mazzaglia, Cansu Sancaktar, Markus Peschl, and Daniel Dijkman · 2025
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Cited alongside, same era.
Octo: An open-source generalist robot policy, 2024
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
Cited alongside, same era.
H-rdt: Human manipulation enhanced bimanual robotic manipulation, 2025
Hongzhe Bi, Lingxuan Wu, Tianwei Lin, Hengkai Tan, Zhizhong Su, Hang Su, and Jun Zhu · 2025
Cited alongside, same era.
π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Manuel Y Galliker, et al · 2025
Cited alongside, same era.
Egocentric-10k
Build-AI · 2025
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Egocentric-10k, 2025
BuildAI · 2025
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Gr-3 technical report, 2025
Chilam Cheang, Sijin Chen, Zhongren Cui, Yingdong Hu, Liqun Huang, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Xiao Ma, Hao Niu, Wenxuan Ou, Wanli Peng, Zeyu Ren, Haixin Shi, Jiawen Tian, Hongtao Wu, Xin Xiao, Yuyang Xiao, Jiafeng Xu, and Yichu Yang · 2025
Cited alongside, same era.
Dualvla: Building a generalizable embodied agent via partial decoupling of reasoning and action, 2025
Zhen Fang, Zhuoyang Liu, Jiaming Liu, Hao Chen, Yu Zeng, Shiting Huang, Zehui Chen, Lin Chen, Shanghang Zhang, and Feng Zhao · 2025
Cited alongside, same era.
Advancing egocentric video question answering with multimodal large language models
Alkesh Patel, Vibhav Chitalia, and Yinfei Yang · 2025
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Fast: Efficient action tokenization for vision-language-action models, 2025
Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Spatialvla: Exploring spatial representations for visual-language-action model, 2025
Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, and Xuelong Li · 2025
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Videovla: Video generators can be generalizable robot manipulators, 2025
Yichao Shen, Fangyun Wei, Zhiying Du, Yaobo Liang, Yan Lu, Jiaolong Yang, Nanning Zheng, and Baining Guo · 2025
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Starvla: A lego-like codebase for vision-language-action model developing, 2025
starVLA Community · 2025
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Rlinf: Flexible and efficient large-scale reinforcement learning via macro-to-micro flow transformation, 2025
Chao Yu, Yuanqing Wang, Zhen Guo, Hao Lin, Si Xu, Hongzhi Zang, Quanlu Zhang, Yongji Wu, Chunyang Zhu, Junhao Hu, Zixiao Huang, Mingjie Wei, Yuqing Xie, Ke Yang, Bo Dai, Zhexuan Xu, Xiangyuan Wang, Xu Fu, Zhihao Liu, Kang Chen, Weilin Liu, Gang Liu, Boxun Li, Jianlei Yang, Zhi Yang, Guohao Dai, and Yu Wang · 2025
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Embodied-r1: Reinforced embodied reasoning for general robotic manipulation, 2025
Yifu Yuan, Haiqin Cui, Yaoting Huang, Yibin Chen, Fei Ni, Zibin Dong, Pengyi Li, Yan Zheng, and Jianye Hao · 2025
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Robotic control via embodied chain-of-thought reasoning, 2025
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 2025
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Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies, 2025
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2025
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Chatvla-2: Vision-language-action model with open-world embodied reasoning from pretrained knowledge, 2025
Zhongyi Zhou, Yichen Zhu, Junjie Wen, Chaomin Shen, and Yi Xu · 2025
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Langforce: Bayesian decomposition of vision language action models via latent action queries, 2026
Shijie Lian, Bin Yu, Xiaopeng Lin, Laurence T. Yang, Zhaolong Shen, Changti Wu, Yuzhuo Miao, Cong Huang, and Kai Chen · 2026
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Robobrain 2.5: Depth in sight, time in mind
Huajie Tan, Enshen Zhou, Zhiyu Li, Yijie Xu, Yuheng Ji, Xiansheng Chen, Cheng Chi, Pengwei Wang, Huizhu Jia, Yulong Ao, Mingyu Cao, Sixiang Chen, Zhe Li, Mengzhen Liu, Zixiao Wang, Shanyu Rong, Yaoxu Lyu, Zhongxia Zhao, Peterson Co, Yibo Li, Yi Han, Shaoxuan Xie, Guocai Yao, Songjing Wang, Leiduo Zhang, Xi Yang, Yance Jiao, Donghai Shi, Kunchang Xie, Shaokai Nie, Chunlei Men, Yonghua Lin, Zhongyuan Wang, Tiejun Huang, and Shanghang Zhang · 2026
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Bin Yu, Shijie Lian, Xiaopeng Lin, Yuliang Wei, Zhaolong Shen, Changti Wu, Yuzhuo Miao, Xinming Wang, Bailing Wang, Cong Huang, et al · 2026
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