VoLoAgent uses a VLM to steer heterogeneous robot capabilities as interruptible tools for long-horizon manipulation and introduces the RoboVoLo benchmark, claiming substantial outperformance over single VLA/VLM or tool-based systems with real-robot validation.
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GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation
Canonical reference. 81% of citing Pith papers cite this work as background.
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abstract
We present GR-2, a state-of-the-art generalist robot agent for versatile and generalizable robot manipulation. GR-2 is first pre-trained on a vast number of Internet videos to capture the dynamics of the world. This large-scale pre-training, involving 38 million video clips and over 50 billion tokens, equips GR-2 with the ability to generalize across a wide range of robotic tasks and environments during subsequent policy learning. Following this, GR-2 is fine-tuned for both video generation and action prediction using robot trajectories. It exhibits impressive multi-task learning capabilities, achieving an average success rate of 97.7% across more than 100 tasks. Moreover, GR-2 demonstrates exceptional generalization to new, previously unseen scenarios, including novel backgrounds, environments, objects, and tasks. Notably, GR-2 scales effectively with model size, underscoring its potential for continued growth and application. Project page: \url{https://gr2-manipulation.github.io}.
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- abstract We present GR-2, a state-of-the-art generalist robot agent for versatile and generalizable robot manipulation. GR-2 is first pre-trained on a vast number of Internet videos to capture the dynamics of the world. This large-scale pre-training, involving 38 million video clips and over 50 billion tokens, equips GR-2 with the ability to generalize across a wide range of robotic tasks and environments during subsequent policy learning. Following this, GR-2 is fine-tuned for both video generation and action prediction using robot trajectories. It exhibits impressive multi-task learning capabilities,
- background Vidar [77], Veo-Act [78], pi0.7 [ 79], V AG [80] Implicit VPP [11], VILP [ 81], Video Policy [13], ARDuP [ 82], mimic-video [ 12], LAP A [15], villa-X [ 83], S-V AM [14], OmniVTA [84], MWM [85] Joint W AM Autoregression GR1 [86], grmg [ 87], GR2 [88], Co TVLA [89], WorldVLA [90], rynnvla2 [91] VLA-JEP A [92], F1-VLA [93] Diffusion-based P AD [21], VideoVLA [94], UWM [20], DreamZero [ 17], CosmosPolicy [16], FLARE [95], UV A [96] FRAPPE [97], CoV AR [98], LDA1B [99], W A V [100], DUST [101], Ling
co-cited works
representative citing papers
ActionMap introduces a voxel heatmap action head for VLA models that improves policy learning by exploiting geometric structure in the action space.
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
EvoScene-VLA maintains an action-updated scene prior across control chunks in VLA policies, raising success rates on RoboTwin tasks from 87.2% to 89.1% fixed and 86.1% to 88.5% randomized while outperforming baselines on a real robot.
LoopVLA adds recurrent refinement and learned sufficiency estimation to VLA models, cutting parameters 45% and raising throughput 1.7x while matching baseline task success on LIBERO and VLA-Arena.
Reducing visual input to one token per frame in VLA world models maintains or improves long-horizon performance on MetaWorld, LIBERO, and real-robot tasks.
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
Privileged Foresight Distillation distills the residual difference in action predictions with versus without future context into a current-only adapter, yielding consistent gains on LIBERO and RoboTwin benchmarks.
π₀.₇ is a steerable generalist robotic model that uses rich multimodal prompts including language, subgoal images, and performance metadata to achieve out-of-the-box generalization across tasks and robot bodies.
ViVa turns a video generator into a value model for robot RL that jointly forecasts future states and task value, yielding better performance on real-world box assembly when integrated with RECAP.
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
DreamGen trains robot policies on synthetic trajectories from adapted video world models, enabling a humanoid robot to perform 22 new behaviors in seen and unseen environments from a single pick-and-place teleoperation dataset.
SA-VLA adds state conditioning to VQ-based action tokenization in VLA policies, expanding each discrete token's effective support to state-dependent actions and raising average success rates from 0.29 to 0.56 on 12 sim tasks and 0.15 to 0.33 on 3 real tasks.
A relative wrist translation bridging action with a vision-language-action model using interleaved tokens and attention masking transfers human manipulation skills to robots more effectively than 6DoF actions.
DiM-WAM is a memory-augmented world-action model that integrates multi-scale historical events and global task progress to improve long-horizon robot manipulation performance.
Releases the largest open teleoperation dataset for robot manipulation together with hardware, simulation, and training infrastructure to support scalable behavior cloning.
StaKe adds lightweight auxiliary heads for manipulation stage identification and next-gripper-transition keyframe prediction to VLA fine-tuning, reporting relative success rate gains of 14% in bimanual simulation and 56% on single-arm real-robot tasks.
GLAM learns a shared latent action space grounded in consistent future observation prediction across heterogeneous data sources to train improved behavioral cloning policies for robot manipulation tasks.
UniviewVLA generates multiview future views from two cameras via world modeling, plus token compression and view selection, to boost occlusion handling in robot manipulation while matching standard benchmark performance.
EgoInfinity is a modular pipeline that lifts in-the-wild RGB videos into agent-agnostic 4D hand-object data with interaction-aware refinement and retargets motions to diverse robot morphologies for video-to-action learning.
T-Rex introduces a large tactile dataset and MoT architecture that achieves over 30% higher success rates than baselines on 12 tasks requiring force control and deformable object handling.
MaskWAM unifies mask prompting and prediction in world-action models via Mixture of Transformers to improve robotic policy generalization on language-ambiguous tasks.
citing papers explorer
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VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
VoLoAgent uses a VLM to steer heterogeneous robot capabilities as interruptible tools for long-horizon manipulation and introduces the RoboVoLo benchmark, claiming substantial outperformance over single VLA/VLM or tool-based systems with real-robot validation.
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ActionMap: Robot Policy Learning via Voxel Action Heatmap
ActionMap introduces a voxel heatmap action head for VLA models that improves policy learning by exploiting geometric structure in the action space.
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Point Tracking Improves World Action Models
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
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EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control
EvoScene-VLA maintains an action-updated scene prior across control chunks in VLA policies, raising success rates on RoboTwin tasks from 87.2% to 89.1% fixed and 86.1% to 88.5% randomized while outperforming baselines on a real robot.
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LoopVLA: Learning Sufficiency in Recurrent Refinement for Vision-Language-Action Models
LoopVLA adds recurrent refinement and learned sufficiency estimation to VLA models, cutting parameters 45% and raising throughput 1.7x while matching baseline task success on LIBERO and VLA-Arena.
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One Token Per Frame: Reconsidering Visual Bandwidth in World Models for VLA Policy
Reducing visual input to one token per frame in VLA world models maintains or improves long-horizon performance on MetaWorld, LIBERO, and real-robot tasks.
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NoiseGate: Learning Per-Latent Timestep Schedules as Information Gating in World Action Models
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
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Being-H0.7: A Latent World-Action Model from Egocentric Videos
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
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Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Privileged Foresight Distillation distills the residual difference in action predictions with versus without future context into a current-only adapter, yielding consistent gains on LIBERO and RoboTwin benchmarks.
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${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
π₀.₇ is a steerable generalist robotic model that uses rich multimodal prompts including language, subgoal images, and performance metadata to achieve out-of-the-box generalization across tasks and robot bodies.
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ViVa: A Video-Generative Value Model for Robot Reinforcement Learning
ViVa turns a video generator into a value model for robot RL that jointly forecasts future states and task value, yielding better performance on real-world box assembly when integrated with RECAP.
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UniLACT: Depth-Aware RGB Latent Action Learning for Vision-Language-Action Models
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
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Learning Physics from Pretrained Video Models: A Multimodal Continuous and Sequential World Interaction Models for Robotic Manipulation
PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
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DreamGen: Unlocking Generalization in Robot Learning through Video World Models
DreamGen trains robot policies on synthetic trajectories from adapted video world models, enabling a humanoid robot to perform 22 new behaviors in seen and unseen environments from a single pick-and-place teleoperation dataset.
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SA-VLA: State-aware tokenizer for improving Vision-Language-Action Models' performance
SA-VLA adds state conditioning to VQ-based action tokenization in VLA policies, expanding each discrete token's effective support to state-dependent actions and raising average success rates from 0.29 to 0.56 on 12 sim tasks and 0.15 to 0.33 on 3 real tasks.
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Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots
A relative wrist translation bridging action with a vision-language-action model using interleaved tokens and attention masking transfers human manipulation skills to robots more effectively than 6DoF actions.
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DIM-WAM: World-Action Modeling with Diverse Historical Event Memory
DiM-WAM is a memory-augmented world-action model that integrates multi-scale historical events and global task progress to improve long-horizon robot manipulation performance.
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Scalable Behavior Cloning with Open Data, Training, and Evaluation
Releases the largest open teleoperation dataset for robot manipulation together with hardware, simulation, and training infrastructure to support scalable behavior cloning.
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Improving Vision-Language-Action Model Fine-Tuning with Structured Stage and Keyframe Supervision
StaKe adds lightweight auxiliary heads for manipulation stage identification and next-gripper-transition keyframe prediction to VLA fine-tuning, reporting relative success rate gains of 14% in bimanual simulation and 56% on single-arm real-robot tasks.
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Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
GLAM learns a shared latent action space grounded in consistent future observation prediction across heterogeneous data sources to train improved behavioral cloning policies for robot manipulation tasks.
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UniviewVLA: A Unified Multiview Vision-Language-Action Model with World Modeling
UniviewVLA generates multiview future views from two cameras via world modeling, plus token compression and view selection, to boost occlusion handling in robot manipulation while matching standard benchmark performance.
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EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
EgoInfinity is a modular pipeline that lifts in-the-wild RGB videos into agent-agnostic 4D hand-object data with interaction-aware refinement and retargets motions to diverse robot morphologies for video-to-action learning.
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T-Rex: Tactile-Reactive Dexterous Manipulation
T-Rex introduces a large tactile dataset and MoT architecture that achieves over 30% higher success rates than baselines on 12 tasks requiring force control and deformable object handling.
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MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models
MaskWAM unifies mask prompting and prediction in world-action models via Mixture of Transformers to improve robotic policy generalization on language-ambiguous tasks.
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Next Forcing: Causal World Modeling with Multi-Chunk Prediction
Next Forcing augments video generation models with auxiliary multi-chunk prediction modules to achieve faster training convergence, higher accuracy at high frame rates, and 2x faster inference on world modeling benchmarks.
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Dash2Sim: Closed-Loop Driving Simulation from in-the-wild Dashcam Videos
Dash2Sim recovers metric geo-referenced 4D scenes from in-the-wild monocular dashcam videos to enable the ROADWork4D benchmark, revealing that current closed-loop planners fail on work zone lane changes.
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OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
OSCAR finetunes Cosmos-Predict2.5-2B on a deduplicated multi-embodiment robotics dataset with kinematic skeleton conditioning, claiming better action following and significant correlation between virtual and real robot policy evaluations.
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PointAction: 3D Points as Universal Action Representations for Robot Control
PointAction uses predicted dynamic 3D pointmaps from fine-tuned video models as an embodiment-agnostic action representation to map video predictions to executable robot actions.
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Cosmos 3: Omnimodal World Models for Physical AI
Cosmos 3 presents a unified omnimodal world model family based on mixture-of-transformers that processes language, vision, audio, and action for Physical AI applications.
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VisualThink-VLA: Visual Intermediate Reasoning for Effective and Low-Latency Vision-Language-Action Policies
VISUALTHINK-VLA uses visual evidence tokens and selective routing to reach top success rates on VLA benchmarks while cutting reasoning latency from multi-second to sub-second levels.
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Turning Video Models into Generalist Robot Policies
Decouples action-free video world models from embodiment-specific IDMs using Jacobian-based translation to achieve zero-shot cross-embodiment robot policies.
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Action with Visual Primitives
AVP architecture has VLM emit visual-primitive tokens to condition flow-matching action expert, yielding 27.61% higher success rate than pi_0.5 on real-robot pick-and-place tasks.
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UAM: A Dual-Stream Perspective on Forgetting in VLA Training
UAM adds a Dorsal Expert initialized from a generative model and trained on visual dynamics prediction to preserve over 95% of VLM multimodal ability in VLA training while achieving top success rates on manipulation tasks including OOD cases.
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HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
HarmoWAM unifies predictive and reactive control in world action models via an adaptive gating mechanism to deliver improved zero-shot generalization and precision in robotic manipulation.
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PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
PriorVLA preserves pretrained priors in VLA models through a frozen Prior Expert and trained Adaptation Expert, delivering better robot manipulation performance than full fine-tuning with only 25% of the parameter updates.
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ALAM: Algebraically Consistent Latent Action Model for Vision-Language-Action Models
ALAM introduces algebraic consistency regularization on latent action transitions from videos, raising VLA success rates from 47.9% to 85.0% on MetaWorld MT50 and 94.1% to 98.1% on LIBERO.
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DenseStep2M: A Scalable, Training-Free Pipeline for Dense Instructional Video Annotation
A scalable training-free pipeline using video segmentation, filtering, and off-the-shelf multimodal models creates DenseStep2M, a dataset of 100K videos and 2M detailed instructional steps that improves dense captioning, step grounding, and cross-modal retrieval.
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GazeVLA: Learning Human Intention for Robotic Manipulation
GazeVLA pretrains on large human egocentric datasets to capture gaze-based intention, then finetunes on limited robot data with chain-of-thought reasoning to achieve better robotic manipulation performance than baselines.
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CorridorVLA: Explicit Spatial Constraints for Generative Action Heads via Sparse Anchors
CorridorVLA improves VLA models by using predicted sparse anchors to impose explicit spatial corridors on action trajectories, yielding 3.4-12.4% success rate gains on LIBERO-Plus with GR00T-Corr reaching 83.21%.
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Human Cognition in Machines: A Unified Perspective of World Models
The paper introduces a unified framework for world models that fully incorporates all cognitive functions from Cognitive Architecture Theory, highlights under-researched areas in motivation and meta-cognition, and proposes Epistemic World Models as a new category for scientific discovery agents.
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Device-Conditioned Neural Architecture Search for Efficient Robotic Manipulation
DC-QFA trains one supernet over architectures and bit-widths, then runs a fast per-device search plus multi-step distillation to deliver 2-3x faster robotic policies across hardware with negligible success-rate drop.
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VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
VAG is a synchronized dual-stream flow-matching framework that generates aligned video-action pairs for synthetic embodied data synthesis and policy pretraining.
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SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds
SIM1 converts sparse real demonstrations into high-fidelity synthetic data through physics-aligned simulation, yielding policies that match real-data performance at a 1:15 ratio with 90% zero-shot success on deformable manipulation.
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Multi-View Video Diffusion Policy: A 3D Spatio-Temporal-Aware Video Action Model
MV-VDP jointly predicts multi-view RGB and heatmap videos via diffusion to achieve data-efficient, robust robotic manipulation policies.
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Fast-WAM: Do World Action Models Need Test-time Future Imagination?
Fast-WAM shows that explicit future imagination at test time is not required for strong WAM performance; video modeling during training provides the main benefit.
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Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
SimDist pretrains world models in simulation and adapts them to real-world robots by updating only the latent dynamics model, enabling rapid improvement on contact-rich tasks where prior methods fail.
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World Action Models are Zero-shot Policies
DreamZero uses a 14B video diffusion model as a World Action Model to achieve over 2x better zero-shot generalization on real robots than state-of-the-art VLAs, real-time 7Hz closed-loop control, and cross-embodiment transfer with 10-30 minutes of data.
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PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
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AstraNav-World: World Model for Foresight Control and Consistency
AstraNav-World unifies diffusion video generation and vision-language action planning in a single bidirectional model that improves trajectory accuracy, success rates, and zero-shot real-world adaptation in embodied navigation.
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HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Models
HiF-VLA improves long-horizon robotic manipulation by encoding past motion as hindsight priors and anticipating future motion through foresight reasoning inside a VLA framework.