🔥 Large VLM-based Vision-Language-Action (VLA) models have recently emerged as a transformative paradigm for robotic manipulation by tightly coupling perception, language understanding, and action generation. Built upon large Vision-Language Models (VLMs), they enable robots to interpret natural language instructions, perceive complex environments, and perform diverse manipulation tasks with strong generalization.

📍 We present the first systematic survey on large VLM-based VLA models for robotic manipulation. This repository serves as the companion resource to our survey: "Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey", and includes all the research papers, benchmarks, and resources reviewed in the paper, organized for easy access and reference.

📌 We will keep updating this repository with newly published works to reflect the latest progress in the field.

Table of Contents

• 🤖 Awesome VLA for Robotic Manipulation
  • 🔍 Table of Contents
  • 🧾 Monolithic Models
    • Single-System
    • Dual-System
  • 🧩 Hierarchical Models
    • Planner Only
    • Planner + Policy
  • 🚀 Other Advanced Field
    • Reinforcement Learning-based Methods
    • Training-Free Methods
    • Learning from Human Videos
    • World Model-based VLA
  • 🗂️ Datasets and Benchmarks
    • Real-world Robot Datasets
    • Simulation Environments and Benchmarks
    • Human Behavior Datasets
    • Embodied Datasets and Benchmarks
  • 🔖 Citation
  • 📧 Contact Us

Monolithic Models

Single-System

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Dual-System

Hierarchical Models

Planner Only

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Planner + Policy

Other Advanced Field

Reinforcement Learning-based Methods

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Training-Free Methods

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Learning from Human Videos

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World Model-based VLA

Datasets and Benchmarks

Real-world Robot Datasets

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Simulation Environments and Benchmarks

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Human Behavior Datasets

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Embodied Datasets and Benchmarks

Citation

If you find this survey helpful for your research or applications, please consider citing it using the following BibTeX entry:

@misc{shao2025largevlmbasedvisionlanguageactionmodels,
      title={Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey}, 
      author={Rui Shao and Wei Li and Lingsen Zhang and Renshan Zhang and Zhiyang Liu and Ran Chen and Liqiang Nie},
      year={2025},
      eprint={2508.13073},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2508.13073}, 
}

Contact Us

For any questions or suggestions, please feel free to contact us at:

Email: shaorui@hit.edu.cn and liwei2024@stu.hit.edu.cn