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Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy.
Vision-based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration
Rouhollah Rahmatizadeh, Pooya Abolghasemi, Ladislau Bölöni, and Sergey Levine · 2018
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 2020
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ViViT: A video vision transformer
Anurag Arnab, Mostafa Dehghani, Georg Heigold, Chen Sun, Mario Lučić, and Cordelia Schmid · 2021
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Is space-time attention all you need for video understanding?
Gedas Bertasius, Heng Wang, and Lorenzo Torresani · 2021
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Expanding language-image pretrained models for general video recognition
Bolin Ni, Houwen Peng, Minghao Chen, Songyang Zhang, Gaofeng Meng, Jianlong Fu, Shiming Xiang, and Haibin Ling · 2022
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Behavior transformers: Cloning k k modes with one stone
Nur Muhammad Shafiullah, Zichen Cui, Ariuntuya Arty Altanzaya, and Lerrel Pinto · 2022
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alex Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Extending context window of large language models via positional interpolation
Shouyuan Chen, Sherman Wong, Liangjian Chen, and Yuandong Tian · 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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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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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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π 0 \pi_{0} : A vision-language-action flow model for general robot control, 2024
Physical Intelligence · 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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Videomamba: State space model for efficient video understanding
Kunchang Li, Xinhao Li, Yi Wang, Yinan He, Yali Wang, Limin Wang, and Yu Qiao · 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, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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From multimodal llms to generalist embodied agents: Methods and lessons
Andrew Szot, Bogdan Mazoure, Omar Attia, Aleksei Timofeev, Harsh Agrawal, Devon Hjelm, Zhe Gan, Zsolt Kira, and Alexander Toshev · 2024
Cited alongside, same era.
Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, and Jian Tang · 2024
Cited alongside, same era.
3d-vla: 3d vision-language-action generative world model
Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, and Chuang Gan · 2024
Cited alongside, same era.
Gr00t n1: An open foundation model for generalist humanoid robots, 2025
NVIDIA · 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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π 0.6 \pi_{0.6} model card
Physical Intelligence · 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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Memoryvla: Perceptual-cognitive memory in vision-language-action models for robotic manipulation
Hao Shi, Bin Xie, Yingfei Liu, Lin Sun, Fengrong Liu, Tiancai Wang, Erjin Zhou, Haoqiang Fan, Xiangyu Zhang, and Gao Huang · 2025
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Tracevla: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies
Ruijie Zheng, Yongyuan Liang, Shuaiyi Huang, Jianfeng Gao, Hal Daumé III, Andrey Kolobov, Furong Huang, and Jianwei Yang · 2024
Cited alongside, same era.
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
Cited alongside, same era.
History-aware visuomotor policy learning via point tracking
Jingjing Chen, Hongjie Fang, Chenxi Wang, Shiquan Wang, and Cewu Lu · 2025
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2025
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Rethinking progression of memory state in robotic manipulation: An object-centric perspective
Nhat Chung, Taisei Hanyu, Toan Nguyen, Huy Le, Frederick Bumgarner, Duy Minh Ho Nguyen, Khoa Vo, Kashu Yamazaki, Chase Rainwater, Tung Kieu, et al · 2025
Cited alongside, same era.
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
Cited alongside, same era.
Sam2act: Integrating visual foundation model with a memory architecture for robotic manipulation
Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, and Jiafei Duan · 2025
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π 0.5 \pi_{0.5} : a vision-language-action model with open-world generalization, 2025
Physical Intelligence · 2025
Cited alongside, same era.
Later among the works it cites.
Memer: Scaling up memory for robot control via experience retrieval
Ajay Sridhar, Jennifer Pan, Satvik Sharma, and Chelsea Finn · 2025
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Video understanding with large language models: A survey
Yunlong Tang, Jing Bi, Siting Xu, Luchuan Song, Susan Liang, Teng Wang, Daoan Zhang, Jie An, Jingyang Lin, Rongyi Zhu, et al · 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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Learning long-context diffusion policies via past-token prediction
Marcel Torne, Andy Tang, Yuejiang Liu, and Chelsea Finn · 2025
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Cyclemanip: Enabling cyclic task manipulation via effective historical perception and understanding
Yi-Lin Wei, Haoran Liao, Yuhao Lin, Pengyue Wang, Zhizhao Liang, Guiliang Liu, and Wei-Shi Zheng · 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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Ta-vla: Elucidating the design space of torque-aware vision-language-action models
Zongzheng Zhang, Haobo Xu, Zhuo Yang, Chenghao Yue, Zehao Lin, Huan-ang Gao, Ziwei Wang, and Hao Zhao · 2025
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Bpp: Long-context robot imitation learning by focusing on key history frames
Max Sobol Mark, Jacky Liang, Maria Attarian, Chuyuan Fu, Debidatta Dwibedi, Dhruv Shah, and Aviral Kumar · 2026
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Gigabrain-0.5 m*: a vla that learns from world model-based reinforcement learning
GigaBrain Team, Boyuan Wang, Chaojun Ni, Guan Huang, Guosheng Zhao, Hao Li, Jie Li, Jindi Lv, Jingyu Liu, Lv Feng, et al · 2026
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A pragmatic vla foundation model
Wei Wu, Fan Lu, Yunnan Wang, Shuai Yang, Shi Liu, Fangjing Wang, Qian Zhu, He Sun, Yong Wang, Shuailei Ma, et al · 2026
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World action models are zero-shot policies, 2026
Seonghyeon Ye, Yunhao Ge, Kaiyuan Zheng, Shenyuan Gao, Sihyun Yu, George Kurian, Suneel Indupuru, You Liang Tan, Chuning Zhu, Jiannan Xiang, Ayaan Malik, Kyungmin Lee, William Liang, Nadun Ranawaka, Jiasheng Gu, Yinzhen Xu, Guanzhi Wang, Fengyuan Hu, Avnish Narayan, Johan Bjorck, Jing Wang, Gwanghyun Kim, Dantong Niu, Ruijie Zheng, Yuqi Xie, Jimmy Wu, Qi Wang, Ryan Julian, Danfei Xu, Yilun Du, Yevgen Chebotar, Scott Reed, Jan Kautz, Yuke Zhu, Linxi ”Jim” Fan, and Joel Jang · 2026
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