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Current Vision-Language-Action (VLA) models rely on fixed computational depth, expending the same amount of compute on simple adjustments and complex multi-step manipulation.
The distinct modes of vision offered by feedforward and recurrent processing
V A Lamme and P R Roelfsema · 2000
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Adaptive effort investment in cognitive and physical tasks: A neurocomputational model
Tom Verguts, Eliana Vassena, and Massimo Silvetti · 2015
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Mostafa Dehghani, Stephan Gouws, Oriol Vinyals, Jakob Uszkoreit, and Łukasz Kaiser · 2019
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
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Rt-1: Robotics transformer for real-world control at scale
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Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 2022
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Zero-shot robotic manipulation with pretrained image-editing diffusion models, 2023
Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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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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Structured world models from human videos
Russell Mendonca, Shikhar Bahl, and Deepak Pathak · 2023
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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 2023
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Unleashing large-scale video generative pre-training for visual robot manipulation, 2023
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 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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Minivla: A better vla with a smaller footprint, 2024
Suneel Belkhale and Dorsa Sadigh · 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, et al · 2024
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Mobility vla: Multimodal instruction navigation with long-context vlms and topological graphs
Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, et al · 2024
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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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Khashayar Gatmiry, Nikunj Saunshi, Sashank J. Reddi, Stefanie Jegelka, and Sanjiv Kumar · 2024
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Albert Q Jiang, Alexandre Sablayrolles, Antoine Roux, Arthur Mensch, Blanche Savary, Chris Bamford, Devendra Singh Chaplot, Diego de las Casas, Emma Bou Hanna, Florian Bressand, et al · 2024
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Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
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Shibo Hao, Sainbayar Sukhbaatar, DiJia Su, Xian Li, Zhiting Hu, Jason Weston, and Yuandong Tian · 2025
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Thinkact: Vision-language-action reasoning via reinforced visual latent planning
Chi-Pin Huang, Yueh-Hua Wu, Min-Hung Chen, Yu-Chiang Frank Wang, and Fu-En Yang · 2025
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π 0.5 \pi_{0.5} : A vision-language-action model with open-world generalization
Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, et al · 2025
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Alexia Jolicoeur-Martineau · 2025
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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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Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, Hang Li, and Tao Kong · 2024
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Transformers can do arithmetic with the right embeddings, 2024
Sean McLeish, Arpit Bansal, Alex Stein, Neel Jain, John Kirchenbauer, Brian R. Bartoldson, Bhavya Kailkhura, Abhinav Bhatele, Jonas Geiping, Avi Schwarzschild, and Tom Goldstein · 2024
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Nikunj Saunshi, Stefani Karp, Shankar Krishnan, Sobhan Miryoosefi, Sashank J. Reddi, and Sanjiv Kumar · 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, Tobias Kreiman, Charles Xu, et al · 2024
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Qwen2.5: A party of foundation models, September 2024
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Moo Jin Kim, Chelsea Finn, and Percy Liang · 2025
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Molmoact: Action reasoning models that can reason in space
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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Teaching pretrained language models to think deeper with retrofitted recurrence, 2025
Sean McLeish, Ang Li, John Kirchenbauer, Dayal Singh Kalra, Brian R. Bartoldson, Bhavya Kailkhura, Avi Schwarzschild, Jonas Geiping, Tom Goldstein, and Micah Goldblum · 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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From llms to actions: Latent codes as bridges in hierarchical robot control, 2025
Yide Shentu, Philipp Wu, Aravind Rajeswaran, and Pieter Abbeel · 2025
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Smolvla: A vision-language-action model for affordable and efficient robotics
Mustafa Shukor, Dana Aubakirova, Francesco Capuano, Pepijn Kooijmans, Steven Palma, Adil Zouitine, Michel Aractingi, Caroline Pascal, Martino Russi, Andres Marafioti, et al · 2025
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Hierarchical reasoning model, 2025
Guan Wang, Jin Li, Yuhao Sun, Xing Chen, Changling Liu, Yue Wu, Meng Lu, Sen Song, and Yasin Abbasi Yadkori · 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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Siyu Xu, Yunke Wang, Chenghao Xia, Dihao Zhu, Tao Huang, and Chang Xu · 2025
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Deer-vla: Dynamic inference of multimodal large language models for efficient robot execution
Yang Yue, Yulin Wang, Bingyi Kang, Yizeng Han, Shenzhi Wang, Shiji Song, Jiashi Feng, and Gao Huang · 2025
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Flowvla: Visual chain of thought-based motion reasoning for vision-language-action models
Zhide Zhong, Haodong Yan, Junfeng Li, Xiangchen Liu, Xin Gong, Tianran Zhang, Wenxuan Song, Jiayi Chen, Xinhu Zheng, Hesheng Wang, et al · 2025
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Scaling latent reasoning via looped language models, 2025
Rui-Jie Zhu, Zixuan Wang, Kai Hua, Tianyu Zhang, Ziniu Li, Haoran Que, Boyi Wei, Zixin Wen, Fan Yin, He Xing, Lu Li, Jiajun Shi, Kaijing Ma, Shanda Li, Taylor Kergan, Andrew Smith, Xingwei Qu, Mude Hui, Bohong Wu, Qiyang Min, Hongzhi Huang, Xun Zhou, Wei Ye, Jiaheng Liu, Jian Yang, Yunfeng Shi, Chenghua Lin, Enduo Zhao, Tianle Cai, Ge Zhang, Wenhao Huang, Yoshua Bengio, and Jason Eshraghian · 2025
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Fast-thinkact: Efficient vision-language-action reasoning via verbalizable latent planning
Chi-Pin Huang, Yunze Man, Zhiding Yu, Min-Hung Chen, Jan Kautz, Yu-Chiang Frank Wang, and Fu-En Yang · 2026
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