SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
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Rt-trajectory: Robotic task generalization via hindsight trajectory sketches
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HALO distills VLM priors via question-answering objectives and applies sparse attention to enable reliable memory retrieval from up to eight minutes of history in imitation-learned visuomotor policies.
MoLA infers a mixture of latent actions from generated future videos via modality-aware inverse dynamics models to improve robot manipulation policies.
DSRL steers pretrained diffusion policies for robotics by applying RL to their latent noise inputs, achieving sample-efficient real-world adaptation with only black-box access.
ATM pre-trains models to predict trajectories of any points in videos, then uses those predictions to learn strong visuomotor policies from minimal action labels, beating baselines by 80% on 130+ tasks.
AxisGuide augments RGB images with rendered robot base-frame axis cues to improve generalization of visuomotor manipulation policies under distribution shifts.
HARP aligns human-robot visual and latent action representations via paired bridges and unpaired dynamics supervision to boost VLA policy performance on manipulation tasks.
LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
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.
VLMs generalize affordance inference to non-humanoid robots but produce inconsistent results with a conservative bias of low false positives and high false negatives, especially for novel object manipulations.
Steerable VLAs trained on rich synthetic commands at subtask, motion, and pixel levels enable VLMs to steer robot behavior more effectively, outperforming prior hierarchical baselines on real-world manipulation and generalization tasks.
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
InternVLA-M1 uses spatially guided pre-training on 2.3M examples followed by action post-training to deliver up to 17% gains on robot manipulation benchmarks and 20.6% on unseen objects.
Embodied-R1 uses a pointing-centric representation and reinforced fine-tuning on a 200K dataset to achieve state-of-the-art results on embodied benchmarks plus 56.2% success in SIMPLEREnv and 87.5% on real XArm tasks without task-specific training.
Visual trace prompting improves spatial-temporal awareness in VLA models, delivering 10% gains on SimplerEnv and 3.5x on real-robot tasks.
Gen2Act enables generalizable robot manipulation for unseen objects and novel motions by using zero-shot human video generation from web data to condition a policy trained on an order of magnitude less robot interaction data.
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.
Adaptor uses few-shot learning with trajectory perturbation and vision-language conditioning to achieve robust cross-operator intent recognition and higher success rates in assistive teleoperation.
AnyUser translates free-form sketches on images plus optional language into executable robot actions for domestic tasks using multimodal fusion and a hierarchical policy.
SafeVLA applies constrained reinforcement learning via CMDP min-max optimization to VLAs, cutting safety violation costs by 83.58% while preserving task success on long-horizon mobile manipulation tasks.
ABot-Claw is an embodied software layer that adds unified robot scheduling, cross-embodiment visual memory, and critic-driven replanning on top of OpenClaw to support persistent multi-robot execution from natural-language goals.
citing papers explorer
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Adapting Generalist Robot Policies with Semantic Reinforcement Learning
SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
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Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
HALO distills VLM priors via question-answering objectives and applies sparse attention to enable reliable memory retrieval from up to eight minutes of history in imitation-learned visuomotor policies.
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From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
MoLA infers a mixture of latent actions from generated future videos via modality-aware inverse dynamics models to improve robot manipulation policies.
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Steering Your Diffusion Policy with Latent Space Reinforcement Learning
DSRL steers pretrained diffusion policies for robotics by applying RL to their latent noise inputs, achieving sample-efficient real-world adaptation with only black-box access.
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Any-point Trajectory Modeling for Policy Learning
ATM pre-trains models to predict trajectories of any points in videos, then uses those predictions to learn strong visuomotor policies from minimal action labels, beating baselines by 80% on 130+ tasks.
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AxisGuide: Grounding Robot Action Coordinate System in RGB Observations for Robust Visuomotor Manipulation
AxisGuide augments RGB images with rendered robot base-frame axis cues to improve generalization of visuomotor manipulation policies under distribution shifts.
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HARP-VLA: Human-Robot Aligned Representation Learning for Vision-Language-Action Model
HARP aligns human-robot visual and latent action representations via paired bridges and unpaired dynamics supervision to boost VLA policy performance on manipulation tasks.
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LACE: Latent Visual Representation for Cross-Embodiment Learning
LACE aligns human-robot visual features via semantic distribution matching on corresponding body parts plus Gram loss, yielding 65% better zero-shot policy transfer than baseline DINO.
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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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Assessing VLM-Driven Semantic-Affordance Inference for Non-Humanoid Robot Morphologies
VLMs generalize affordance inference to non-humanoid robots but produce inconsistent results with a conservative bias of low false positives and high false negatives, especially for novel object manipulations.
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Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control
Steerable VLAs trained on rich synthetic commands at subtask, motion, and pixel levels enable VLMs to steer robot behavior more effectively, outperforming prior hierarchical baselines on real-world manipulation and generalization tasks.
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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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InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy
InternVLA-M1 uses spatially guided pre-training on 2.3M examples followed by action post-training to deliver up to 17% gains on robot manipulation benchmarks and 20.6% on unseen objects.
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Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation
Embodied-R1 uses a pointing-centric representation and reinforced fine-tuning on a 200K dataset to achieve state-of-the-art results on embodied benchmarks plus 56.2% success in SIMPLEREnv and 87.5% on real XArm tasks without task-specific training.
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TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies
Visual trace prompting improves spatial-temporal awareness in VLA models, delivering 10% gains on SimplerEnv and 3.5x on real-robot tasks.
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Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
Gen2Act enables generalizable robot manipulation for unseen objects and novel motions by using zero-shot human video generation from web data to condition a policy trained on an order of magnitude less robot interaction data.
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A Survey on Vision-Language-Action Models for Embodied AI
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.
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Adaptor: Advancing Assistive Teleoperation with Few-Shot Learning and Cross-Operator Generalization
Adaptor uses few-shot learning with trajectory perturbation and vision-language conditioning to achieve robust cross-operator intent recognition and higher success rates in assistive teleoperation.
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AnyUser: Translating Sketched User Intent into Domestic Robots
AnyUser translates free-form sketches on images plus optional language into executable robot actions for domestic tasks using multimodal fusion and a hierarchical policy.
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SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning
SafeVLA applies constrained reinforcement learning via CMDP min-max optimization to VLAs, cutting safety violation costs by 83.58% while preserving task success on long-horizon mobile manipulation tasks.
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ABot-Claw: A Foundation for Persistent, Cooperative, and Self-Evolving Robotic Agents
ABot-Claw is an embodied software layer that adds unified robot scheduling, cross-embodiment visual memory, and critic-driven replanning on top of OpenClaw to support persistent multi-robot execution from natural-language goals.