Papers

📄 **[Read on arXiv](https://arxiv.org/abs/2504.01941)** End-to-end driving models typically output a single trajectory and trust it entirely, with no mechanism to evaluate whether the predicted path is safe before execu…

[Read on arXiv](https://arxiv.org/abs/2501.15830) SpatialVLA addresses a fundamental limitation of existing VLA models: they operate on 2D visual inputs despite robot manipulation requiring understanding of 3D spatial r…

[Read on arXiv](https://arxiv.org/abs/2505.16805) SOLVE proposes a synergistic framework that combines a Vision-Language Model (VLM) reasoning branch (SOLVE-VLM) with an end-to-end (E2E) driving network (SOLVE-E2E), con…

**[Read on arXiv](https://arxiv.org/abs/2506.01844)** SmolVLA is a 450M-parameter open-source VLA model from Hugging Face that demonstrates competitive performance with models 10x larger while being trainable on a singl…

📄 **[Read on arXiv](https://arxiv.org/abs/2503.09594)** Many driving VLM efforts improve language understanding (VQA, scene descriptions) but sacrifice actual driving performance. A model can correctly answer questions…

📄 **[Read on arXiv](https://arxiv.org/abs/2509.15155)** This Google DeepMind paper addresses a fundamental limitation of Embodied Foundation Models (EFMs): while they demonstrate impressive semantic generalization (unde…

[Read on arXiv](https://arxiv.org/abs/2504.16054) pi0.5 is the successor to pi0, developed by Physical Intelligence, and represents the first VLA model capable of performing 10-15 minute long-horizon tasks in previously…

[Read on arXiv](https://arxiv.org/abs/2511.14759) pi*0.6 extends the pi0/pi0.5/pi0.6 VLA family with the ability to learn from autonomous deployment experience using reinforcement learning. While prior models learn prim…

📄 **[Read on arXiv](https://arxiv.org/abs/2503.19755)** ORION bridges the reasoning-action gap in driving VLAs through a three-component architecture consisting of QT-Former (visual encoding), an LLM reasoning core, and…

[Read on arXiv](https://arxiv.org/abs/2502.19645) OpenVLA-OFT presents a systematic empirical study of fine-tuning strategies for Vision-Language-Action models, identifying a recipe that boosts the original OpenVLA from…

📄 **[Read on arXiv](https://arxiv.org/abs/2503.23463)** OpenDriveVLA introduces a Vision-Language Action model specifically designed for end-to-end autonomous driving. Unlike previous approaches that use VLMs as supplem…

[Read on arXiv](https://arxiv.org/abs/2505.23705) This paper from Physical Intelligence identifies and addresses a critical problem in VLA training: gradient interference causes the pre-trained VLM backbone to degrade w…

:page_facing_up: **[Read at Figure AI](https://www.figure.ai/news/helix)** Helix (Figure AI, Technical Report February 2025) is the first vision-language-action model to achieve high-rate continuous control of an entire…

📄 **[Read on arXiv](https://arxiv.org/abs/2503.14734)** GR00T N1 addresses the challenge of creating general-purpose humanoid robots through an innovative "data pyramid" approach. Rather than relying solely on expensive…

[Read on arXiv](https://arxiv.org/abs/2501.09747) FAST (Frequency-space Action Sequence Tokenization) introduces a novel action tokenizer for VLA models that leverages signal processing to dramatically compress robot ac…

📄 **[Read on arXiv](https://arxiv.org/abs/2410.23262)** EMMA is Waymo's industry-scale demonstration of the "everything as language tokens" paradigm for autonomous driving. A single large multimodal foundation model uni…

📄 **[Read on arXiv](https://arxiv.org/abs/2505.16278)** DriveMoE introduces a dual-level Mixture-of-Experts (MoE) architecture to driving Vision-Language-Action models. The key innovation is applying expert specializati…

**[Read on arXiv](https://arxiv.org/abs/2503.19757)** Dita introduces a scalable framework that leverages full Transformer architectures to directly denoise continuous action sequences through a unified multimodal diffu…

[Read on arXiv](https://arxiv.org/abs/2502.05855) DexVLA introduces a paradigm shift in VLA architecture by scaling the action generation component to 1 billion parameters using a diffusion-based expert, rather than foc…

📄 **[Read on arXiv](https://arxiv.org/abs/2506.13757)** AutoVLA presents a unified approach to autonomous driving that integrates vision, language understanding, and action generation within a single autoregressive mode…

Bo Jiang, Shaoyu Chen, Qian Zhang, Wenyu Liu, Xinggang Wang, arXiv, 2025. 📄 **[Read on arXiv](https://arxiv.org/abs/2503.07608)** AlphaDrive is the first application of GRPO (Group Relative Policy Optimization) reinforc…

Yan Wang, Wenjie Luo, Junjie Bai, Yulong Cao, Marco Pavone + 37 co-authors (NVIDIA), arXiv, 2025. 📄 **[Read on arXiv](https://arxiv.org/abs/2511.00088)** Alpamayo-R1 is NVIDIA's production-grade Vision-Language-Action (…

📄 **[Read on arXiv](https://arxiv.org/abs/2401.05577)** VLP (Vision Language Planning) by Pan et al. (CVPR 2024) represents a fundamentally different approach to using language in autonomous driving compared to instruct…

📄 **[Read on arXiv](https://arxiv.org/abs/2410.22313)** Two dominant paradigms exist in autonomous driving: large vision-language models (LVLMs) with strong reasoning but poor trajectory precision, and end-to-end (E2E)…

📄 **[Read on arXiv](https://arxiv.org/abs/2403.01823)** RT-H (Robot Transformer with Action Hierarchies) introduces a hierarchical approach to multi-task robot control that uses natural language as an intermediate repre…

📄 **[Read on arXiv](https://arxiv.org/abs/2412.14058)** RoboVLMs is a large-scale empirical study from Tsinghua University, ByteDance Research, and collaborators that systematically investigates the design principles fo…

[Read on arXiv](https://arxiv.org/abs/2407.08693) ECoT (UC Berkeley / Stanford / University of Warsaw, 2024) introduces Embodied Chain-of-Thought reasoning for Vision-Language-Action (VLA) models, demonstrating that gen…

📄 **[Read on arXiv](https://arxiv.org/abs/2311.01378)** RoboFlamingo addresses the question of whether publicly available vision-language models (VLMs) can serve as effective backbones for robot imitation learning, with…

[Read on arXiv](https://arxiv.org/abs/2410.24164) pi0 is a vision-language-action flow model developed by Physical Intelligence that represents a foundational step toward general-purpose robot control. The key innovatio…

📄 **[Read on arXiv](https://arxiv.org/abs/2406.09246)** OpenVLA is a 7-billion parameter open-source vision-language-action model that demonstrates generalist robotic manipulation by fine-tuning a pretrained vision-lang…

📄 **[Read on arXiv](https://arxiv.org/abs/2312.07488)** LMDrive is the first system to demonstrate and benchmark LLM-based driving in closed-loop simulation, introducing the LangAuto benchmark with ~64K instruction-foll…

📄 **[Read on arXiv](https://arxiv.org/abs/2406.11815)** LLARVA addresses the "embodiment gap" between large multimodal models (LMMs) and robotic control. While VLMs trained on internet-scale data excel at visual underst…

📄 **[Read on arXiv](https://arxiv.org/abs/2410.06158)** GR-2 is a generalist robot manipulation agent from ByteDance Research that leverages large-scale video-language pretraining to build a world model for robotic cont…

📄 **[Read on arXiv](https://arxiv.org/abs/2312.14150)** DriveLM formalizes driving reasoning as Graph Visual Question Answering (GVQA), where QA pairs are connected via logical dependencies forming a reasoning graph tha…

Zhenhua Xu, Yujia Zhang, Enze Xie, Zhen Zhao, Yong Guo, Kwan-Yee K. Wong, Zhenguo Li, Hengshuang Zhao, IEEE Robotics and Automation Letters, 2024. 📄 **[Read on arXiv](https://arxiv.org/abs/2310.01412)** DriveGPT4 applie…

📄 **[Read on arXiv](https://arxiv.org/abs/2408.10845)** Autonomous driving systems face the "long tail" problem -- handling countless rare and complex driving scenarios beyond common situations. While traditional rule-b…

📄 **[Read on arXiv](https://arxiv.org/abs/2403.09631)** 3D-VLA addresses a fundamental limitation of existing vision-language-action models: their reliance on 2D visual representations, which lack the spatial depth unde…

📄 **[Read on arXiv](https://arxiv.org/abs/2307.15818)** RT-2 is the defining paper for the modern Vision-Language-Action (VLA) paradigm. It demonstrates that large vision-language models (VLMs) pretrained on internet-sc…

📄 **[Read on arXiv](https://arxiv.org/abs/2312.03661)** Reason2Drive provides the largest reasoning chain dataset for driving (>600K video-text pairs from nuScenes, Waymo, and ONCE) and introduces an aggregated evaluati…

📄 **[Read on arXiv](https://arxiv.org/abs/2310.01415)** GPT-Driver reformulates autonomous driving motion planning as a language modeling problem. Scene context (object positions, velocities, lane geometry) and ego vehi…

📄 **[Read on arXiv](https://arxiv.org/abs/2312.09245)** DriveMLM proposes using a multimodal LLM as a plug-and-play behavioral planning module within existing autonomous driving stacks (Apollo, Autoware), rather than re…

📄 **[Read on arXiv](https://arxiv.org/abs/2212.06817)** RT-1 is a landmark paper from Google/Everyday Robots demonstrating that a 35M-parameter Transformer model, trained on a large and diverse dataset of real-robot dem…

📄 **[Read on arXiv](https://arxiv.org/abs/2205.06175)** Reed et al., Transactions on Machine Learning Research (TMLR), 2022. - [Paper](https://arxiv.org/abs/2205.06175) Gato, developed by DeepMind, is a single transform…

📄 **[Read on arXiv](https://arxiv.org/abs/1909.10838)** For autonomous vehicles to be truly useful as personal transportation, passengers should be able to issue natural-language commands like "park behind that blue car…

📄 **[Read on arXiv](https://arxiv.org/abs/1807.11546)** End-to-end driving models produce control signals without any rationale, making them opaque and untrustworthy for safety-critical deployment. This paper by Kim et…

📄 **[Read on arXiv](https://arxiv.org/abs/1710.02410)** This paper introduces conditional imitation learning for end-to-end autonomous driving, where a neural network policy is conditioned on a discrete high-level comma…