mlsanityData to 7 Oct 2026

π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities

arXiv 2604.15483 ↗First posted 16 Apr 2026cs.LG cs.ROcited by 127

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Cited by 56 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present a new robotic foundation model, called π0.7, that can enable strong out-of-the-box performance in a wide range of scenarios. π0.7 can follow diverse language instructions in unseen environments, including multi-stage tasks with various kitchen appliances, provide zero-shot cross-embodiment generalization, for example enabling a robot to fold laundry without seeing the task before, and perform challenging tasks such as operating an espresso machine out of the box at a level of performance that matches much more specialized RL-finetuned models. The main idea behind π0.7 is to use diverse context conditioning during training. This conditioning information, contained in the prompt, makes it possible to steer the model precisely to perform many tasks with different strategies. It is conditioned not just on a language command that describes what it should do, but on additional multimodal information that also describes the manner or strategy in which it should do it, including metadata about task performance and subgoal images. This enables π0.7 to use very diverse data, including demonstrations, potentially suboptimal (autonomous) data including failures, and data from non-robot sources. Our experiments evaluate π0.7 across numerous tasks with multiple robot platforms, on tasks that require speed and dexterity, language following, and compositional task generalization.

Key facts. Cited by 127 papers in the map (data through 7 Oct 2026). Builds on 102 of its 109 references that are in the map. First posted on arXiv 16 Apr 2026.

Builds on

102 of 109 references.

References · 102

  1. 2022Classifier-Free Diffusion Guidancecited by 5,717
  2. 2022Flow Matching for Generative Modelingcited by 5,426
  3. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  4. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  5. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  6. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  7. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,037
  8. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  9. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  10. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  11. 2022Code as Policies: Language Model Programs for Embodied Controlcited by 1,172
  12. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
38 more
  1. 2025Emerging Properties in Unified Multimodal Pretrainingcited by 855
  2. 2022A Generalist Agentcited by 802
  3. 2022R3M: A Universal Visual Representation for Robot Manipulationcited by 678
  4. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  5. 2025FAST: Efficient Action Tokenization for Vision-Language-Action Modelscited by 643
  6. 2023Learning Universal Policies via Text-Guided Video Generationcited by 506
  7. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  8. 2025CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Modelscited by 440
  9. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  10. 2026World Action Models are Zero-shot Policiescited by 411
  11. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  12. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 390
  13. 2022VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Trainingcited by 384
  14. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  15. 2023Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulationcited by 353
  16. 2023Vision-Language Foundation Models as Effective Robot Imitatorscited by 344
  17. 2024Robotic Control via Embodied Chain-of-Thought Reasoningcited by 340
  18. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 331
  19. 20243D-VLA: A 3D Vision-Language-Action Generative World Modelcited by 320
  20. 2026Fast-WAM: Do World Action Models Need Test-time Future Imagination?cited by 311
  21. 2024Latent Action Pretraining from Videoscited by 302
  22. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 298
  23. 2024GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulationcited by 290
  24. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
  25. 2025π*0.6: a VLA That Learns From Experiencecited by 280
  26. 2026Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planningcited by 274
  27. 2023Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Modelscited by 264
  28. 2018Visual Reinforcement Learning with Imagined Goalscited by 248
  29. 2022Masked Visual Pre-training for Motor Controlcited by 246
  30. 2023Affordances from Human Videos as a Versatile Representation for Roboticscited by 221
  31. 2025Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Modelscited by 216
  32. 2023Any-point Trajectory Modeling for Policy Learningcited by 207
  33. 2025Real-Time Execution of Action Chunking Flow Policiescited by 199
  34. 2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulationcited by 183
  35. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 175
  36. 2023Video Language Planningcited by 160
  37. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  38. 2023Learning to Act from Actionless Videos through Dense Correspondencescited by 159

50 most cited of 102 All 102 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 127.

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  1. 2026Unified 4D World Action Modeling from Video Priors with Asynchronous Denoisingcited by 65
  2. 2026World Action Models: The Next Frontier in Embodied AIcited by 46
  3. 2026LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policiescited by 46
  4. 2026Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodimentscited by 42
  5. 2026RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policiescited by 35
  6. 2026Native Video-Action Pretraining for Generalizable Robot Controlcited by 30
  7. 2026ABot-M0.5: Unified Mobility-and-Manipulation World Action Modelcited by 28
  8. 2026RLDX-1 Technical Reportcited by 25
  9. 2026Xiaomi-Robotics-1: Scaling Vision-Language-Action Models with over 100K Hours of Real-World Trajectoriescited by 24
  10. 2026Hy-Embodied-0.5-VLA: From Vision-Language-Action Models to a Real-World Robot Learning Stackcited by 20
  11. 2026G0.5: One Autoregressive Stream for Robot Reasoning and Actioncited by 17
  12. 2026WorldVLN: Autoregressive World Action Model for Aerial Vision-Language Navigationcited by 14
38 more
  1. 2026Next Forcing: Causal World Modeling with Multi-Chunk Predictioncited by 14
  2. 2026WAM4D: Fast 4D World Action Model via Spatial Register Tokenscited by 12
  3. 2026Wall-OSS-0.5 Technical Reportcited by 11
  4. 2026HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Modelscited by 10
  5. 2026World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesiscited by 10
  6. 2026World Action Models: A Surveycited by 10
  7. 2026GigaWorld-Policy-0.5: A Faster and Stronger WAM Empowered by AutoResearchcited by 10
  8. 2026ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shiftscited by 10
  9. 2026VLA-Trace: Diagnosing Vision-Language-Action Models through Representation and Behavior Tracingcited by 9
  10. 2026MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Modelscited by 9
  11. 2026LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulationcited by 9
  12. 2026AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understandingcited by 8
  13. 2026Self-Evolving Embodied Agents via Skill-Harness Evolutioncited by 8
  14. 2026LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoningcited by 7
  15. 2026TTT-VLA: Test-Time Latent Prompt Optimization for Vision-Language-Action Modelscited by 7
  16. 2026Orca: The World is in Your Mindcited by 6
  17. 2026WAM-TTT: Steering World-Action Models by Watching Human Play at Test Timecited by 6
  18. 2026DreamWAM: Beyond RGB Future Prediction for World Action Modelscited by 6
  19. 2026Code as Worlds: Agentic Discovery of Executable World Representations for Physical Reasoningcited by 6
  20. 2026FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policiescited by 5
  21. 2026APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policiescited by 5
  22. 2026Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervisioncited by 5
  23. 2026OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulationcited by 4
  24. 2026WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory and In-Context Learningcited by 4
  25. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  26. 2026WCM: A World Critic Model for Vision-Language-Action Reinforcement Learningcited by 4
  27. 2026Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperationcited by 4
  28. 2026Foresight Without Seeing: Latent Futures for World Action Modelscited by 4
  29. 2026DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executorscited by 3
  30. 2026Latent State Design for World Models under Sufficiency Constraintscited by 3
  31. 2026Kintsugi: Learning Policies by Repairing Executable Knowledge Basescited by 3
  32. 2026From Fixed to Free Cameras: Calibration-Free View-Robust Vision-Language-Action Modelcited by 3
  33. 2026Jetson-PI: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inferencecited by 3
  34. 2026Progress Reward Modeling for Robotic Learning: A Comprehensive Surveycited by 3
  35. 2026Engagement Process: Rethinking the Temporal Interface of Action and Observationcited by 2
  36. 2026Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priorscited by 2
  37. 2026QuoVLA: Quotient Space for Vision-Language-Action Modelscited by 2
  38. 2026VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Trainingcited by 2

50 most cited of 127 All 127 (JSON)