# HoloBrain-0 Technical Report

arXiv: https://arxiv.org/abs/2602.12062 · HTML: https://mlsanity.com/paper/2602.12062/

## Key facts

- Cited by 21 papers in the map (data through 14 Oct 2026).
- Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models.
- Builds on 55 of its 63 references that are in the map.
- First posted on arXiv 12 Feb 2026.

## Placed in

- Vision-language-action models / [Generalist VLA models and benchmarks](https://mlsanity.com/vla/generalist-vla-models-and-benchmarks/)

## Builds on (most cited first, 30 of 55)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [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)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [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)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [PaliGemma: A versatile 3B VLM for transfer](https://mlsanity.com/paper/2407.07726/) (2024)
- [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://mlsanity.com/paper/2410.07864/) (2024)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics](https://mlsanity.com/paper/2506.01844/) (2025)
- [SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model](https://mlsanity.com/paper/2501.15830/) (2025)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [Implicit Behavioral Cloning](https://mlsanity.com/paper/2109.00137/) (2021)
- [UniVLA: Learning to Act Anywhere with Task-centric Latent Actions](https://mlsanity.com/paper/2505.06111/) (2025)
- [WorldVLA: Towards Autoregressive Action World Model](https://mlsanity.com/paper/2506.21539/) (2025)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [Causal World Modeling for Robot Control](https://mlsanity.com/paper/2601.21998/) (2026)
- [Behavior Transformers: Cloning k modes with one stone](https://mlsanity.com/paper/2206.11251/) (2022)

## Built on by (most cited first, 21 of 21)

- [Do World Action Models Generalize Better than VLAs? A Robustness Study](https://mlsanity.com/paper/2603.22078/) (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)
- [From Foundation to Application: Improving VLA Models in Practice](https://mlsanity.com/paper/2607.06403/) (2026)
- [DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation](https://mlsanity.com/paper/2605.31286/) (2026)
- [EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI](https://mlsanity.com/paper/2607.07459/) (2026)
- [WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory and In-Context Learning](https://mlsanity.com/paper/2607.18840/) (2026)
- [World Action Models in Real Time: An Empirical Study of Smooth Execution via Asynchronous Deployment](https://mlsanity.com/paper/2608.01880/) (2026)
- [Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Models](https://mlsanity.com/paper/2608.27550/) (2026)
- [Spatially Aware World Action Model via Geometric Latent Diffusion](https://mlsanity.com/paper/2609.02531/) (2026)
- [CKT-WAM: Parameter-Efficient Context Knowledge Transfer Between World Action Models](https://mlsanity.com/paper/2605.06247/) (2026)
- [Bridge-WA: Predicting Where and How the World Changes for Robotic Action](https://mlsanity.com/paper/2607.02195/) (2026)
- [VLA Foundry: A Unified Framework for Training Vision-Language-Action Models](https://mlsanity.com/paper/2604.19728/) (2026)
- [HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory](https://mlsanity.com/paper/2606.23565/) (2026)
- [UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling](https://mlsanity.com/paper/2609.11875/) (2026)
- [Long-WAM: Scaling the Context of World-Action Models](https://mlsanity.com/paper/2610.10528/) (2026)
- [LeapBot-WA: World-Anchor Action Models via Predictive Latent Alignments](https://mlsanity.com/paper/2607.23969/) (2026)
- [An Action Is Worth One Patch: Unified World-Action Modeling with PatchWAM](https://mlsanity.com/paper/2609.25961/) (2026)
- [CrossSafe: Towards Cross-Embodiment Latent Safety Filters](https://mlsanity.com/paper/2609.28984/) (2026)
- [Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policies](https://mlsanity.com/paper/2609.37307/) (2026)
- [World-Calibrated Proposal-to-Action Flow for Vision-Language-Action Models](https://mlsanity.com/paper/2610.02323/) (2026)

## Abstract (arXiv)

In this work, we introduce HoloBrain-0, a comprehensive Vision-Language-Action (VLA) framework that bridges the gap between foundation model research and reliable real-world robot deployment. The core of our system is a novel VLA architecture that explicitly incorporates robot embodiment priors, including multi-view camera parameters and kinematic descriptions (URDF), to enhance 3D spatial reasoning and support diverse embodiments. We validate this design through a scalable ``pre-train then post-train" paradigm, achieving state-of-the-art results on simulation benchmarks such as RoboTwin 2.0, LIBERO, and GenieSim, as well as strong results on challenging long-horizon real-world manipulation tasks. Notably, our efficient 0.2B-parameter variant rivals significantly larger baselines, enabling low-latency on-device deployment. To further accelerate research and practical adoption, we fully open-source the entire HoloBrain ecosystem, which includes: (1) powerful pre-trained VLA foundations; (2) post-trained checkpoints for multiple simulation suites and real-world tasks; and (3) RoboOrchard, a full-stack VLA infrastructure for data curation, model training and deployment. Together with standardized data collection protocols, this release provides the community with a complete, reproducible path toward high-performance robotic manipulation.