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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RVT-2: learning precise manipulation from few demonstrations
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ReKep encodes robotic tasks as optimizable Python functions over 3D keypoints that are generated automatically from language and RGB-D input, enabling real-time hierarchical planning on single- and dual-arm platforms without task-specific data.
Dynamic scene graphs serve as explicit memory to improve imitation learning policies for spatial-temporal reasoning under partial observability in mobile and tabletop manipulation.
Decompose and Recompose decomposes seen robotic demonstrations into skill-action alignments and recomposes them via visual-semantic retrieval and planning to enable zero-shot cross-task generalization.
A1 is a transparent VLA framework achieving state-of-the-art robot manipulation success with up to 72% lower latency via adaptive layer truncation and inter-layer flow matching.
SeedPolicy introduces self-evolving gated attention to extend the temporal horizon of diffusion policies, yielding 36.8% and 169% relative gains over standard DP on clean and randomized RoboTwin 2.0 tasks.
GraspVLA shows that pretraining a grasping model on a billion synthetic action frames enables zero-shot open-vocabulary performance and sim-to-real transfer.
HybridVLA unifies diffusion and autoregression in a single VLA model via collaborative training and ensemble to raise robot manipulation success rates by 14% in simulation and 19% in real-world tasks.
This is the first survey on vision-language-action models, providing a taxonomy across three lines, plus summaries of datasets, simulators, benchmarks, challenges, and future directions in embodied AI.
OASIS improves robotic manipulation success and generalization by predicting camera-frame SE(3) end-effector trajectories to condition the action decoder on pose-supervised states.
A hybrid structural latent points representation is learned by inserting a point-wise latent VAE into a point-cloud autoencoder and regularizing toward a Gaussian prior, paired with a lightweight 3DGS rendering pipeline, yielding gains on RLBench and ManiSkill2 benchmarks.
UniSplat learns consistent 3D geometry, appearance, and semantics from unposed images using dual masking, progressive Gaussian splatting, and recalibration to align predictions across tasks.
The paper quantifies the geometric gap in current VLAs via linear probing and compares three architectures for injecting geometry from GFMs while analyzing impacts of data, cameras, and reconstruction quality.
citing papers explorer
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GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
GraspVLA shows that pretraining a grasping model on a billion synthetic action frames enables zero-shot open-vocabulary performance and sim-to-real transfer.
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HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model
HybridVLA unifies diffusion and autoregression in a single VLA model via collaborative training and ensemble to raise robot manipulation success rates by 14% in simulation and 19% in real-world tasks.