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State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments.
Dream to control: Learning behaviors by latent imagination
Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 2019
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Mastering atari with discrete world models
Danijar Hafner, Timothy Lillicrap, Mohammad Norouzi, and Jimmy Ba · 2020
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Scaling laws for neural language models
Jared Kaplan, Sam McCandlish, Tom Henighan, Tom B Brown, Benjamin Chess, Rewon Child, Scott Gray, Alec Radford, Jeffrey Wu, and Dario Amodei · 2020
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On the opportunities and risks of foundation models
Rishi Bommasani, Drew A Hudson, Ehsan Adeli, Russ Altman, Simran Arora, Sydney von Arx, Michael S Bernstein, Jeannette Bohg, Antoine Bosselut, Emma Brunskill, et al · 2021
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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, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil 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 · 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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Classifier-free diffusion guidance
Jonathan Ho and Tim Salimans · 2022
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Lora: Low-rank adaptation of large language models
Edward J Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, Weizhu Chen, et al · 2022
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A path towards autonomous machine intelligence
Yann LeCun · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Flow straight and fast: Learning to generate and transfer data with rectified flow
Xingchao Liu, Chengyue Gong, and Qiang Liu · 2022
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Stochastic interpolants: A unifying framework for flows and diffusions
Michael S Albergo, Nicholas M Boffi, and Eric Vanden-Eijnden · 2023
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Self-supervised learning from images with a joint-embedding predictive architecture
Mahmoud Assran, Quentin Duval, Ishan Misra, Piotr Bojanowski, Pascal Vincent, Michael Rabbat, Yann LeCun, and Nicolas Ballas · 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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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
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Mastering diverse domains through world models
Danijar Hafner, Jurgis Pasukonis, Jimmy Ba, and Timothy Lillicrap · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
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Progprompt: Generating situated robot task plans using large language models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, and Sergey Levine · 2023
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UniPC: A unified predictor-corrector framework for fast sampling of diffusion models
Wenliang Zhao, Lujia Bai, Yongming Rao, Jie Zhou, and Jiwen Lu · 2023
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V-JEPA: Video joint embedding predictive architecture
Adrien Bardes, Quentin Garrido, Jean Ponce, Michael Rabbat, Yann LeCun, Mahmoud Assran, and Nicolas Ballas · 2024
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Gen2act: Human video generation in novel scenarios enables generalizable robot manipulation
Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta, Shubham Tulsiani, Carl Doersch, Ted Xiao, Dhruv Shah, Fei Xia, Dorsa Sadigh, and Sean Kirmani · 2024
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Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation
Chi-Lam Cheang, Guangzeng Chen, Ya Jing, Tao Kong, Hang Li, Yifeng Li, Yuxiao Liu, Hongtao Wu, Jiafeng Xu, Yichu Yang, et al · 2024
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Spatialvlm: Endowing vision-language models with spatial reasoning capabilities
Boyuan Chen, Zhuo Xu, Sean Kirmani, Brain Ichter, Dorsa Sadigh, Leonidas Guibas, and Fei Xia · 2024
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Video language planning
Yilun Du, Sherry Yang, Pete Florence, Fei Xia, Ayzaan Wahid, brian ichter, Pierre Sermanet, Tianhe Yu, Pieter Abbeel, Joshua B. Tenenbaum, Leslie Pack Kaelbling, Andy Zeng, and Jonathan Tompson · 2024
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Ca2-vdm: Efficient autoregressive video diffusion model with causal generation and cache sharing
Kaifeng Gao, Jiaxin Shi, Hanwang Zhang, Chunping Wang, Jun Xiao, and Long Chen · 2024
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Video prediction policy: A generalist robot policy with predictive visual representations
Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, and Jianyu Chen · 2024
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Pyramidal flow matching for efficient video generative modeling
Yang Jin, Zhicheng Sun, Ningyuan Li, Kun Xu, Hao Jiang, Nan Zhuang, Quzhe Huang, Yang Song, Yadong Mu, and Zhouchen Lin · 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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Hy-world 1.5: A systematic framework for interactive world modeling with real-time latency and geometric consistency
Team HunyuanWorld · 2025
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Polaris: Scalable real-to-sim evaluations for generalist robot policies
Arhan Jain, Mingtong Zhang, Kanav Arora, William Chen, Marcel Torne, Muhammad Zubair Irshad, Sergey Zakharov, Yue Wang, Sergey Levine, Chelsea Finn, et al · 2025
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Dreamgen: Unlocking generalization in robot learning through video world models
Joel Jang, Seonghyeon Ye, Zongyu Lin, Jiannan Xiang, Johan Bjorck, Yu Fang, Fengyuan Hu, Spencer Huang, Kaushil Kundalia, Yen-Chen Lin, Loïc Magne, Ajay Mandlekar, Avnish Narayan, You Liang Tan, Guanzhi Wang, Jing Wang, Qi Wang, Yinzhen Xu, Xiaohui Zeng, Kaiyuan Zheng, Ruijie Zheng, Ming-Yu Liu, Luke Zettlemoyer, Dieter Fox, Jan Kautz, Scott Reed, Yuke Zhu, and Linxi Fan · 2025
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Emergence of human to robot transfer in vision-language-action models
Simar Kareer, Karl Pertsch, James Darpinian, Judy Hoffman, Danfei Xu, Sergey Levine, Chelsea Finn, and Suraj Nair · 2025
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Learning to act from actionless videos through dense correspondences
Po-Chen Ko, Jiayuan Mao, Yilun Du, Shao-Hua Sun, and Joshua B. Tenenbaum · 2024
Cited alongside, same era.
Dreamitate: Real-world visuomotor policy learning via video generation
Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, and Carl Vondrick · 2024
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Timestep embedding tells: It’s time to cache for video diffusion model
Feng Liu, Shiwei Zhang, Xiaofeng Wang, Yujie Wei, Haonan Qiu, Yuzhong Zhao, Yingya Zhang, Qixiang Ye, and Fang Wan · 2024
Cited alongside, same era.
Nvidia model-optimizer, 2024
NVIDIA Corporation · 2024
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Unleashing large-scale video generative pre-training for visual robot manipulation
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2024
Cited alongside, same era.
Learning interactive real-world simulators
Sherry Yang, Yilun Du, Seyed Kamyar Seyed Ghasemipour, Jonathan Tompson, Leslie Pack Kaelbling, Dale Schuurmans, and Pieter Abbeel · 2024
Cited alongside, same era.
Robodreamer: Learning compositional world models for robot imagination
Siyuan Zhou, Yilun Du, Jiaben Chen, Yandong Li, Dit-Yan Yeung, and Chuang Gan · 2024
Cited alongside, same era.
World simulation with video foundation models for physical ai
Arslan Ali, Junjie Bai, Maciej Bala, Yogesh Balaji, Aaron Blakeman, Tiffany Cai, Jiaxin Cao, Tianshi Cao, Elizabeth Cha, Yu-Wei Chao, et al · 2025
Cited alongside, same era.
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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Video generators are robot policies
Junbang Liang, Pavel Tokmakov, Ruoshi Liu, Sruthi Sudhakar, Paarth Shah, Rares Ambrus, and Carl Vondrick · 2025
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Genie envisioner: A unified world foundation platform for robotic manipulation
Yue Liao, Pengfei Zhou, Siyuan Huang, Donglin Yang, Shengcong Chen, Yuxin Jiang, Yue Hu, Jingbin Cai, Si Liu, Jianlan Luo, et al · 2025
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From reusing to forecasting: Accelerating diffusion models with taylorseers
Jiacheng Liu, Chang Zou, Yuanhuiyi Lyu, Junjie Chen, and Linfeng Zhang · 2025
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Solving new tasks by adapting internet video knowledge
Calvin Luo, Zilai Zeng, Yilun Du, and Chen Sun · 2025
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mimic-video: Video-action models for generalizable robot control beyond vlas
Jonas Pai, Liam Achenbach, Victoriano Montesinos, Benedek Forrai, Oier Mees, and Elvis Nava · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization
Physical Intelligence · 2025
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Hi robot: Open-ended instruction following with hierarchical vision-language-action models
Lucy Xiaoyang Shi, Brian Ichter, Michael Equi, Liyiming Ke, Karl Pertsch, Quan Vuong, James Tanner, Anna Walling, Haohuan Wang, Niccolo Fusai, et al · 2025
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Gen-0: Embodied foundation models that scale with physical interaction
Generalist AI Team · 2025
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Wan: Open and advanced large-scale video generative models
Team Wan · 2025
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Magi-1: Autoregressive video generation at scale
Hansi Teng, Hongyu Jia, Lei Sun, Lingzhi Li, Maolin Li, Mingqiu Tang, Shuai Han, Tianning Zhang, WQ Zhang, Weifeng Luo, et al · 2025
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Dual-stream diffusion for world-model augmented vision-language-action model
John Won, Kyungmin Lee, Huiwon Jang, Dongyoung Kim, and Jinwoo Shin · 2025
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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Se June 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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From slow bidirectional to fast autoregressive video diffusion models
Tianwei Yin, Qiang Zhang, Richard Zhang, William T Freeman, Fredo Durand, Eli Shechtman, and Xun Huang · 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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Exploring the limits of vision-language-action manipulations in cross-task generalization
Jiaming Zhou, Ke Ye, Jiayi Liu, Teli Ma, Zifan Wang, Ronghe Qiu, Kun-Yu Lin, Zhilin Zhao, and Junwei Liang · 2025
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Unified world models: Coupling video and action diffusion for pretraining on large robotic datasets
Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, and Abhishek Gupta · 2025
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Action100m: A large-scale video action dataset
Delong Chen, Tejaswi Kasarla, Yejin Bang, Mustafa Shukor, Willy Chung, Jade Yu, Allen Bolourchi, Theo Moutakanni, and Pascale Fung · 2026
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Cosmos policy: Fine-tuning video models for visuomotor control and planning
Moo Jin Kim, Yihuai Gao, Tsung-Yi Lin, Yen-Chen Lin, Yunhao Ge, Grace Lam, Percy Liang, Shuran Song, Ming-Yu Liu, Chelsea Finn, et al · 2026
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Open-world task and motion planning via vision-language model generated constraints
Nishanth Kumar, William Shen, Fabio Ramos, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, and Caelan Reed Garrett · 2026
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Causal world modeling for robot control
Lin Li, Qihang Zhang, Yiming Luo, Shuai Yang, Ruilin Wang, Fei Han, Mingrui Yu, Zelin Gao, Nan Xue, Xing Zhu, Yujun Shen, and Yinghao Xu · 2026
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