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Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets.
Visualizing data using t-sne
Laurens van der Maaten and Geoffrey Hinton · 2008
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Robonet: Large-scale multi-robot learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2019
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
Shuran Song, Andy Zeng, Johnny Lee, and Thomas Funkhouser · 2020
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Learning generalizable robotic reward functions from” in-the-wild” human videos
Annie S Chen, Suraj Nair, and Chelsea Finn · 2021
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
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Finetuned language models are zero-shot learners
Jason Wei, Maarten Bosma, Vincent Y Zhao, Kelvin Guu, Adams Wei Yu, Brian Lester, Nan Du, Andrew M Dai, and Quoc V Le · 2021
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Visual imitation made easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, and Lerrel Pinto · 2021
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Human-to-robot imitation in the wild
Shikhar Bahl, Abhinav Gupta, and Deepak Pathak · 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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Vip: Towards universal visual reward and representation via value-implicit pre-training
Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, and Amy Zhang · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
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Ar2-d2:training a robot without a robot, 2023
Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, and Ranjay Krishna · 2023
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Where are we in the search for an artificial visual cortex for embodied intelligence?
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Pieter Abbeel, Jitendra Malik, Dhruv Batra, Yixin Lin, Oleksandr Maksymets, Aravind Rajeswaran, and Franziska Meier · 2023
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Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, and Lerrel Pinto · 2023
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BridgeData v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 2023
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Mimicplay: Long-horizon imitation learning by watching human play, 2023
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, and Anima Anandkumar · 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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Minivla: A better vla with a smaller footprint, 2024
Suneel Belkhale and Dorsa Sadigh · 2024
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Roboagent: Generalization and efficiency in robot manipulation via semantic augmentations and action chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2024
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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, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, and Ury Zhilinsky · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
AgiBot-World-Contributors, Qingwen Bu, Jisong Cai, Li Chen, Xiuqi Cui, Yan Ding, Siyuan Feng, Shenyuan Gao, Xindong He, Xuan Hu, Xu Huang, Shu Jiang, Yuxin Jiang, Cheng Jing, Hongyang Li, Jialu Li, Chiming Liu, Yi Liu, Yuxiang Lu, Jianlan Luo, Ping Luo, Yao Mu, Yuehan Niu, Yixuan Pan, Jiangmiao Pang, Yu Qiao, Guanghui Ren, Cheng Ruan, Jiaqi Shan, Yongjian Shen, Chengshi Shi, Mingkang Shi, Modi Shi, Chonghao Sima, Jianheng Song, Huijie Wang, Wenhao Wang, Dafeng Wei, Chengen Xie, Guo Xu, Junchi Yan, Cunbiao Yang, Lei Yang, Shukai Yang, Maoqing Yao, Jia Zeng, Chi Zhang, Qinglin Zhang, Bin Zhao, Chengyue Zhao, Jiaqi Zhao, and Jianchao Zhu · 2025
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Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
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Knowledge insulating vision-language-action models: Train fast, run fast, generalize better
Danny Driess, Jost Tobias Springenberg, Brian Ichter, Lili Yu, Adrian Li-Bell, Karl Pertsch, Allen Z Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, et al · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization, 2025
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Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
Ria Doshi, Homer Walke, Oier Mees, Sudeep Dasari, and Sergey Levine · 2024
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Rh20t: A comprehensive robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2024
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Egomimic: Scaling imitation learning via egocentric video, 2024
Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, and Danfei Xu · 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 Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Behavior generation with latent actions
Seungjae Lee, Yibin Wang, Haritheja Etukuru, H. Jin Kim, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 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, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Dexhub and dart: Towards internet scale robot data collection, 2024
Younghyo Park, Jagdeep Singh Bhatia, Lars Ankile, and Pulkit Agrawal · 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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Galaxea open-world dataset and g0 dual-system vla model
Tao Jiang, Tianyuan Yuan, Yicheng Liu, Chenhao Lu, Jianning Cui, Xiao Liu, Shuiqi Cheng, Jiyang Gao, Huazhe Xu, and Hang Zhao · 2025
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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, et al · 2025
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Phantom: Training robots without robots using only human videos, 2025
Marion Lepert, Jiaying Fang, and Jeannette Bohg · 2025
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Egozero: Robot learning from smart glasses, 2025
Vincent Liu, Ademi Adeniji, Haotian Zhan, Siddhant Haldar, Raunaq Bhirangi, Pieter Abbeel, and Lerrel Pinto · 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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Egobridge: Domain adaptation for generalizable imitation from egocentric human data, 2025
Ryan Punamiya, Dhruv Patel, Patcharapong Aphiwetsa, Pranav Kuppili, Lawrence Y. Zhu, Simar Kareer, Judy Hoffman, and Danfei Xu · 2025
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Humanoid policy human policy, 2025
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng, Chaitanya Chawla, Jialong Li, Tairan He, Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, and Xiaolong Wang · 2025
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Dexwild: Dexterous human interactions for in-the-wild robot policies, 2025
Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, and Deepak Pathak · 2025
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Gemini robotics: Bringing ai into the physical world
Gemini Robotics Team, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Travis Armstrong, Ashwin Balakrishna, Robert Baruch, Maria Bauza, Michiel Blokzijl, et al · 2025
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Dexvla: Vision-language model with plug-in diffusion expert for general robot control
Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen, and Feifei Feng · 2025
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Dexumi: Using human hand as the universal manipulation interface for dexterous manipulation, 2025
Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, and Shuran Song · 2025
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Egovla: Learning vision-language-action models from egocentric human videos, 2025
Ruihan Yang, Qinxi Yu, Yecheng Wu, Rui Yan, Borui Li, An-Chieh Cheng, Xueyan Zou, Yunhao Fang, Xuxin Cheng, Ri-Zhao Qiu, Hongxu Yin, Sifei Liu, Song Han, Yao Lu, and Xiaolong Wang · 2025
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X-vla: Soft-prompted transformer as scalable cross-embodiment vision-language-action model
Jinliang Zheng, Jianxiong Li, Zhihao Wang, Dongxiu Liu, Xirui Kang, Yuchun Feng, Yinan Zheng, Jiayin Zou, Yilun Chen, Jia Zeng, et al · 2025
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Emma: Scaling mobile manipulation via egocentric human data, 2025
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