# F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions

arXiv: https://arxiv.org/abs/2509.06951 · HTML: https://mlsanity.com/paper/2509.06951/

## Key facts

- Cited by 86 papers in the map (data through 14 Oct 2026).
- Placed in World model-based VLA, one of 13 directions in Vision-language-action models.
- Builds on 41 of its 53 references that are in the map.
- First posted on arXiv 8 Sep 2025.

## Placed in

- Vision-language-action models / [World model-based VLA](https://mlsanity.com/vla/world-model-based-vla/)

## Builds on (most cited first, 30 of 41)

- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [Sigmoid Loss for Language Image Pre-Training](https://mlsanity.com/paper/2303.15343/) (2023)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Root Mean Square Layer Normalization](https://mlsanity.com/paper/1910.07467/) (2019)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Visual Autoregressive Modeling: Scalable Image Generation via Next-Scale Prediction](https://mlsanity.com/paper/2404.02905/) (2024)
- [Emerging Properties in Unified Multimodal Pretraining](https://mlsanity.com/paper/2505.14683/) (2025)
- [Emu3: Next-Token Prediction is All You Need](https://mlsanity.com/paper/2409.18869/) (2024)
- [Autoregressive Image Generation using Residual Quantization](https://mlsanity.com/paper/2203.01941/) (2022)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [Learning Universal Policies via Text-Guided Video Generation](https://mlsanity.com/paper/2302.00111/) (2023)
- [SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model](https://mlsanity.com/paper/2501.15830/) (2025)
- [Evaluating Real-World Robot Manipulation Policies in Simulation](https://mlsanity.com/paper/2405.05941/) (2024)
- [Transfusion: Predict the Next Token and Diffuse Images with One Multi-Modal Model](https://mlsanity.com/paper/2408.11039/) (2024)
- [CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models](https://mlsanity.com/paper/2503.22020/) (2025)
- [UniVLA: Learning to Act Anywhere with Task-centric Latent Actions](https://mlsanity.com/paper/2505.06111/) (2025)
- [BLIP3-o: A Family of Fully Open Unified Multimodal Models-Architecture, Training and Dataset](https://mlsanity.com/paper/2505.09568/) (2025)
- [Chameleon: Plug-and-Play Compositional Reasoning with Large Language Models](https://mlsanity.com/paper/2304.09842/) (2023)
- [Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations](https://mlsanity.com/paper/2412.14803/) (2024)
- [Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models](https://mlsanity.com/paper/2310.10639/) (2023)
- [Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets](https://mlsanity.com/paper/2504.02792/) (2025)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning](https://mlsanity.com/paper/2505.18719/) (2025)
- [Mixture-of-Transformers: A Sparse and Scalable Architecture for Multi-Modal Foundation Models](https://mlsanity.com/paper/2411.04996/) (2024)
- [Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation](https://mlsanity.com/paper/2412.15109/) (2024)
- [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://mlsanity.com/paper/2508.05635/) (2025)

## Built on by (most cited first, 30 of 86)

- [Motus: A Unified Latent Action World Model](https://mlsanity.com/paper/2512.13030/) (2025)
- [Cosmos 3: Omnimodal World Models for Physical AI](https://mlsanity.com/paper/2606.02800/) (2026)
- [VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model](https://mlsanity.com/paper/2602.10098/) (2026)
- [ABot-M0: VLA Foundation Model for Robotic Manipulation with Action Manifold Learning](https://mlsanity.com/paper/2602.11236/) (2026)
- [InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy](https://mlsanity.com/paper/2510.13778/) (2025)
- [Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization](https://mlsanity.com/paper/2601.12993/) (2026)
- [LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies](https://mlsanity.com/paper/2606.15768/) (2026)
- [InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation](https://mlsanity.com/paper/2601.02456/) (2026)
- [World Action Models: The Next Frontier in Embodied AI](https://mlsanity.com/paper/2605.12090/) (2026)
- [World Model for Robot Learning: A Comprehensive Survey](https://mlsanity.com/paper/2605.00080/) (2026)
- [Unified Diffusion VLA: Vision-Language-Action Model via Joint Discrete Denoising Diffusion Process](https://mlsanity.com/paper/2511.01718/) (2025)
- [ImageWAM: Do World Action Models Really Need Video Generation, or Just Image Editing?](https://mlsanity.com/paper/2606.19531/) (2026)
- [Native Video-Action Pretraining for Generalizable Robot Control](https://mlsanity.com/paper/2607.08639/) (2026)
- [MIND: Benchmarking Memory Consistency and Action Control in World Models](https://mlsanity.com/paper/2602.08025/) (2026)
- [ACoT-VLA: Action Chain-of-Thought for Vision-Language-Action Models](https://mlsanity.com/paper/2601.11404/) (2026)
- [VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Models](https://mlsanity.com/paper/2512.22539/) (2025)
- [BagelVLA: Enhancing Long-Horizon Manipulation via Interleaved Vision-Language-Action Generation](https://mlsanity.com/paper/2602.09849/) (2026)
- [ABot-M0.5: Unified Mobility-and-Manipulation World Action Model](https://mlsanity.com/paper/2607.00678/) (2026)
- [OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation](https://mlsanity.com/paper/2605.06481/) (2026)
- [LangForce: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries](https://mlsanity.com/paper/2601.15197/) (2026)
- [Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models](https://mlsanity.com/paper/2602.01166/) (2026)
- [DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models](https://mlsanity.com/paper/2603.22280/) (2026)
- [When to Trust Imagination: Adaptive Action Execution for World Action Models](https://mlsanity.com/paper/2605.06222/) (2026)
- [World Action Verifier: Self-Improving World Models via Forward-Inverse Asymmetry](https://mlsanity.com/paper/2604.01985/) (2026)
- [AsyncVLA: Asynchronous Flow Matching for Vision-Language-Action Models](https://mlsanity.com/paper/2511.14148/) (2025)
- [HALO: A Unified Vision-Language-Action Model for Embodied Multimodal Chain-of-Thought Reasoning](https://mlsanity.com/paper/2602.21157/) (2026)
- [FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Model](https://mlsanity.com/paper/2603.10712/) (2026)
- [ManualVLA: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation](https://mlsanity.com/paper/2512.02013/) (2025)
- [RoboInter: A Holistic Intermediate Representation Suite Towards Robotic Manipulation](https://mlsanity.com/paper/2602.09973/) (2026)
- [World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems](https://mlsanity.com/paper/2604.14732/) (2026)

## Abstract (arXiv)

Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt reactive state-to-action mappings, often leading to short-sighted behaviors and poor robustness in dynamic scenes. In this paper, we introduce F1, a pretrained VLA framework which integrates the visual foresight generation into decision-making pipeline. F1 adopts a Mixture-of-Transformer architecture with dedicated modules for perception, foresight generation, and control, thereby bridging understanding, generation, and actions. At its core, F1 employs a next-scale prediction mechanism to synthesize goal-conditioned visual foresight as explicit planning targets. By forecasting plausible future visual states, F1 reformulates action generation as a foresight-guided inverse dynamics problem, enabling actions that implicitly achieve visual goals. To endow F1 with robust and generalizable capabilities, we propose a three-stage training recipe on an extensive dataset comprising over 330k trajectories across 136 diverse tasks. This training scheme enhances modular reasoning and equips the model with transferable visual foresight, which is critical for complex and dynamic environments. Extensive evaluations on real-world tasks and simulation benchmarks demonstrate F1 consistently outperforms existing approaches, achieving substantial gains in both task success rate and generalization ability.