mlsanityData to 7 Oct 2026

A Dual Process VLA: Efficient Robotic Manipulation Leveraging VLM

arXiv 2410.15549 ↗First posted 21 Oct 2024cs.RO cs.CVcited by 44

On the map: Vision-language-action models → Generalist VLA models and benchmarks

Abstract (arXiv)

Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance remains challenging due to the high computational demands of existing models. To overcome this, we propose Dual Process VLA (DP-VLA), a hierarchical framework inspired by dual-process theory. DP-VLA utilizes a Large System 2 Model (L-Sys2) for complex reasoning and decision-making, while a Small System 1 Model (S-Sys1) handles real-time motor control and sensory processing. By leveraging Vision-Language Models (VLMs), the L-Sys2 operates at low frequencies, reducing computational overhead, while the S-Sys1 ensures fast and accurate task execution. Experimental results on the RoboCasa dataset demonstrate that DP-VLA achieves faster inference and higher task success rates, providing a scalable solution for advanced robotic applications.

Key facts. Cited by 44 papers in the map (data through 7 Oct 2026). Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models. Builds on 19 of its 25 references that are in the map. First posted on arXiv 21 Oct 2024.

Builds on

19 of 25 references.

Closest ancestors · 3

Same direction, newest first

  1. 2024LLaRA: Supercharging Robot Learning Data for Vision-Language Policy28 Jun
  2. 2024OpenVLA: An Open-Source Vision-Language-Action Model13 Jun
  3. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul

Other references · 16

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  2. 2023LLaMA: Open and Efficient Foundation Language Modelscited by 13,958
  3. 2023Visual Instruction Tuningcited by 7,792
  4. 2022Flamingo: a Visual Language Model for Few-Shot Learningcited by 4,337
  5. 2023Mistral 7Bcited by 3,065
  6. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  7. 2024DROID: A Large-Scale In-The-Wild Robot Manipulation Datasetcited by 801
  8. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  9. 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 564
  10. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  11. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  12. 2023Vision-Language Foundation Models as Effective Robot Imitatorscited by 344
4 more
  1. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  2. 2017The Consciousness Priorcited by 105
  3. 2024LLARVA: Vision-Action Instruction Tuning Enhances Robot Learningcited by 87
  4. 2024Interactive Continual Learning: Fast and Slow Thinkingcited by 23

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 18; 2026: 26.

44 papers.

Sort:

By area:

  1. 2026Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planningcited by 274
  2. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  3. 2025OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulationcited by 79
  4. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 66
  5. 2025Hume: Introducing System-2 Thinking in Visual-Language-Action Modelcited by 56
  6. 2025SP-VLA: A Joint Model Scheduling and Token Pruning Approach for VLA Model Accelerationcited by 56
  7. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 46
  8. 2025LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instructioncited by 40
  9. 2025A Survey on Efficient Vision-Language-Action Modelscited by 34
  10. 2025FreezeVLA: Action-Freezing Attacks against Vision-Language-Action Modelscited by 19
  11. 2025When Alignment Fails: Multimodal Adversarial Attacks on Vision-Language-Action Modelscited by 16
  12. 2025Bridging the Semantic-Action Gap in Visual Token Pruning for Efficient VLA Inferencecited by 14
32 more
  1. 2025Video2Act: A Dual-System Video Diffusion Policy with Robotic Spatio-Motional Modelingcited by 13
  2. 2025RationalVLA: A Rational Vision-Language-Action Model with Dual Systemcited by 12
  3. 2026Is the Future Compatible? Diagnosing Dynamic Consistency in World Action Modelscited by 10
  4. 2026AsyncVLA: An Asynchronous VLA for Fast and Robust Navigation on the Edgecited by 7
  5. 2026RC-NF: Robot-Conditioned Normalizing Flow for Real-Time Anomaly Detection in Robotic Manipulationcited by 7
  6. 2025HyperVLA: Efficient Inference in Vision-Language-Action Models via Hypernetworkscited by 6
  7. 2025ELMUR: External Layer Memory with Update/Rewrite for Long-Horizon RL Problemscited by 6
  8. 2025Asynchronous Fast-Slow Vision-Language-Action Policies for Whole-Body Robotic Manipulationcited by 6
  9. 2026UAOR: Uncertainty-aware Observation Reinjection for Vision-Language-Action Modelscited by 5
  10. 2025An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challengescited by 4
  11. 2026Critic in the Loop: A Tri-System VLA Framework for Robust Long-Horizon Manipulationcited by 4
  12. 2026UAV-Track VLA: Embodied Aerial Tracking via Vision-Language-Action Modelscited by 4
  13. 2026Understanding the Impact of Geometric Foundation Models on Vision-Language-Action Modelscited by 4
  14. 2026Foresight Without Seeing: Latent Futures for World Action Modelscited by 4
  15. 2026GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representationscited by 2
  16. 2026STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Modelscited by 2
  17. 2026DeVA: Decoupled Video-Action Model with physical guidance for robot policy learningcited by 2
  18. 2025HiBerNAC: Hierarchical Brain-inspired Robotic Neural Agent Collective for Disentangling Complex Manipulationcited by 1
  19. 2026NS-VLA: Towards Neuro-Symbolic Vision-Language-Action Modelscited by 1
  20. 2026UniFS: Unified Fast-to-Slow Hierarchical Architecture for Vision-Language-Action Modelscited by 1
  21. 2026CosFly-VLA: A Spatially Aware Vision-Language-Action Model for UAV Trackingcited by 1
  22. 2026Latency-Tolerant Cloud-Edge Collaborative Vision-Language-Action Models via Emergent Representational Specializationcited by 1
  23. 2026Structural Action Transformer for 3D Dexterous Manipulationcited by 0
  24. 2026Knowledge-informed Bidding with Dual-process Control for Online Advertisingcited by 0
  25. 2026AsyncMDE: Real-Time Monocular Depth Estimation via Asynchronous Spatial Memorycited by 0
  26. 2026A Semantic Autonomy Framework for VLM-Integrated Indoor Mobile Robots: Hybrid Deterministic Reasoning and Cross-Robot Adaptive Memorycited by 0
  27. 2026RoboTALES: Learning Reasoning-Guided Robot Policies via Task-Aligned Simulated Futurescited by 0
  28. 2026Fast and Accurate: An Adaptive VLA Inference Framework through Environment-aware Model Selectioncited by 0
  29. 2026WorldToken: Time-First Sequence Modeling for Robotic Imitation Learningcited by 0
  30. 2026PonderPounce: A Pretrained MLLM as an Episode Context Engine for Robot Controlcited by 0
  31. 2026SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulationcited by 0
  32. 2026Catch Me If You Can: Real-Time Feedback Denoising for Responsive VLAscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Vision Language Action Models in Robotic Manipulation: A Systematic Review
  2. 2025Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulation
  3. 2026What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents
  4. 2024Benchmarking Vision, Language, & Action Models on Robotic Learning Tasks
  5. 2026D2-VLA: Dual-Memory Dual-Frequency Vision-Language-Action Model For Long Dynamic Manipulation
  6. 2026SimVLA: A Simple VLA Baseline for Robotic Manipulation
  7. 2024What Matters in Building Vision-Language-Action Models for Generalist Robots
  8. 2025Efficient Vision-Language-Action Models for Embodied Manipulation: A Systematic Survey