{"id":"https://openalex.org/W4399695759","doi":"https://doi.org/10.48550/arxiv.2406.09246","title":"OpenVLA: An Open-Source Vision-Language-Action Model","display_name":"OpenVLA: An Open-Source Vision-Language-Action Model","publication_year":2024,"publication_date":"2024-06-13","ids":{"openalex":"https://openalex.org/W4399695759","doi":"https://doi.org/10.48550/arxiv.2406.09246"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2406.09246","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.09246","pdf_url":"https://arxiv.org/pdf/2406.09246","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.09246","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061514595","display_name":"Moo Jin Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kim, Moo Jin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035555714","display_name":"Karl Pertsch","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pertsch, Karl","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066892638","display_name":"Siddharth Karamcheti","orcid":"https://orcid.org/0000-0003-2153-2455"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Karamcheti, Siddharth","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008219421","display_name":"Ted Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Ted","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103260170","display_name":"Ashwin Balakrishna","orcid":"https://orcid.org/0000-0002-3508-7850"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Balakrishna, Ashwin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101603882","display_name":"Suraj Nair","orcid":"https://orcid.org/0000-0002-3999-2436"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nair, Suraj","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028522433","display_name":"Rafael Rafailov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafailov, Rafael","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044082862","display_name":"Ethan Foster","orcid":"https://orcid.org/0000-0002-8228-1875"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Foster, Ethan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091902878","display_name":"Grace Lam","orcid":"https://orcid.org/0000-0001-7508-8666"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lam, Grace","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064611781","display_name":"Pannag Sanketi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanketi, Pannag","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101445461","display_name":"Quan Vuong","orcid":"https://orcid.org/0009-0009-1829-9614"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vuong, Quan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073644080","display_name":"Thomas Kollar","orcid":"https://orcid.org/0000-0003-2598-8118"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kollar, Thomas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091048694","display_name":"Benjamin Burchfiel","orcid":"https://orcid.org/0000-0001-7332-6712"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burchfiel, Benjamin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tedrake, Russ","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sadigh, Dorsa","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Levine, Sergey","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025255782","display_name":"Percy Liang","orcid":"https://orcid.org/0000-0002-0458-6139"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Percy","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5005431772","display_name":"Chelsea Finn","orcid":"https://orcid.org/0000-0001-6298-0874"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Finn, Chelsea","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":18,"corresponding_author_ids":["https://openalex.org/A5061514595"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.7046999931335449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.7046999931335449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/open-source","display_name":"Open source","score":0.69809490442276},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6561194658279419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5253562331199646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33532366156578064},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.22083613276481628},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11016571521759033}],"concepts":[{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.69809490442276},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6561194658279419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5253562331199646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33532366156578064},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.22083613276481628},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11016571521759033},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2406.09246","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.09246","pdf_url":"https://arxiv.org/pdf/2406.09246","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2406.09246","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2406.09246","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.09246","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.09246","pdf_url":"https://arxiv.org/pdf/2406.09246","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Large":[0],"policies":[1,43],"pretrained":[2,124],"on":[3,100,111,231,270],"a":[4,84,95,101,112,119,131,221,245],"combination":[5],"of":[6,50,104,133],"Internet-scale":[7],"vision-language":[8],"data":[9,136],"and":[10,64,69,128,138,166,197,202,239,258],"diverse":[11,102],"robot":[12,107,168],"demonstrations":[13],"have":[14],"the":[15,67,134],"potential":[16],"to":[17,39,66,74,247],"change":[18],"how":[19],"we":[20,32,92,178,224,252],"teach":[21],"robots":[22],"new":[23,28,82,139,184],"skills:":[24],"rather":[25],"than":[26],"training":[27,266],"behaviors":[29],"from":[30,126],"scratch,":[31],"can":[33,179,228],"fine-tune":[34,181],"such":[35,152,209],"vision-language-action":[36],"(VLA)":[37],"models":[38,151],"obtain":[40],"robust,":[41],"generalizable":[42],"for":[44,52,77,81,87,146,183,265],"visuomotor":[45],"control.":[46],"Yet,":[47],"widespread":[48],"adoption":[49],"VLAs":[51,60,80,267],"robotics":[53],"has":[54],"been":[55],"challenging":[56],"as":[57,153,210,220],"1)":[58],"existing":[59],"are":[61],"largely":[62],"closed":[63,150],"inaccessible":[65],"public,":[68],"2)":[70],"prior":[71],"work":[72],"fails":[73],"explore":[75,217],"methods":[76,208,238],"efficiently":[78,241],"fine-tuning":[79,256],"tasks,":[83],"key":[85],"component":[86],"adoption.":[88],"Addressing":[89],"these":[90],"challenges,":[91],"introduce":[93],"OpenVLA,":[94],"7B-parameter":[96],"open-source":[97],"VLA":[98],"trained":[99],"collection":[103],"970k":[105],"real-world":[106],"demonstrations.":[108],"OpenVLA":[109,142,182,227],"builds":[110],"Llama":[113],"2":[114],"language":[115,199],"model":[116,140,254],"combined":[117],"with":[118,170,186,262],"visual":[120],"encoder":[121],"that":[122,177,226],"fuses":[123],"features":[125],"DINOv2":[127],"SigLIP.":[129],"As":[130],"product":[132],"added":[135],"diversity":[137],"components,":[141],"demonstrates":[143],"strong":[144,188,198],"results":[145,190],"generalist":[147],"manipulation,":[148],"outperforming":[149],"RT-2-X":[154],"(55B)":[155],"by":[156,213],"16.5%":[157],"in":[158,191],"absolute":[159],"task":[160],"success":[161,249],"rate":[162],"across":[163],"29":[164],"tasks":[165],"multiple":[167,195],"embodiments,":[169],"7x":[171],"fewer":[172],"parameters.":[173],"We":[174,215],"further":[175],"show":[176,225],"effectively":[180],"settings,":[185],"especially":[187],"generalization":[189],"multi-task":[192],"environments":[193],"involving":[194],"objects":[196],"grounding":[200],"abilities,":[201],"outperform":[203],"expressive":[204],"from-scratch":[205],"imitation":[206],"learning":[207],"Diffusion":[211],"Policy":[212],"20.4%.":[214],"also":[216],"compute":[218],"efficiency;":[219],"separate":[222],"contribution,":[223],"be":[229],"fine-tuned":[230],"consumer":[232],"GPUs":[233],"via":[234,242],"modern":[235],"low-rank":[236],"adaptation":[237],"served":[240],"quantization":[243],"without":[244],"hit":[246],"downstream":[248],"rate.":[250],"Finally,":[251],"release":[253],"checkpoints,":[255],"notebooks,":[257],"our":[259],"PyTorch":[260],"codebase":[261],"built-in":[263],"support":[264],"at":[268],"scale":[269],"Open":[271],"X-Embodiment":[272],"datasets.":[273]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":3}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
