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Awesome-Dual-System-VLA

To address the challenges in vision-language-action (VLA) models, such as the difficulty of achieving efficient real-time performance, the high cost of pre-training, and the complexity of end-to-end fine-tuning on embodied data due to domain shift and catastrophic forgetting, Dual-System VLA models were introduced.

The development and architectural details of Dual-System VLA models are discussed in the paper.

This repository will be continuously updated, and we warmly welcome contributions from the community. If you have papers, projects, or resources that are not yet included, please feel free to submit them via a pull request or open an issue for discussion.

Current Results

CALVIN ABC→D

Method 1 2 3 4 5 Avg. Len.
Single-System
OpenVLA 91.3 77.8 62.0 52.1 43.5 3.27
UniVLA 95.5 85.8 75.4 66.9 56.5 3.80
Seer 94.4 87.2 79.9 72.2 64.3 3.98
Dual-System
LCB 73.6 50.2 28.5 16.0 9.9 1.78
RationalVLA 74.3 58.3 42.3 30.0 20.7 2.26
Robodual 94.4 82.7 72.1 62.4 54.4 3.66
OpenHelix 97.1 91.4 82.8 72.6 64.1 4.08
Method LIBERO-Spatial LIBERO-Object LIBERO-Goal LIBERO-Long Avg.
Single-System
OpenVLA 84.7 88.4 79.2 53.7 76.5
π0 96.8 98.8 95.8 85.2 94.2
OpenVLA-OFT 97.6 98.4 97.9 94.5 97.1
GR00T N1 94.4 97.6 90.6 93.9 93.9
UniVLA 96.5 96.8 95.6 92.0 95.2
Seer - - - 87.7 -
Dual-System
DexVLA 97.2 99.1 95.6 - -
Hume 98.6 99.8 99.4 98.6 98.6

✅ Dual-System VLA

Robot Manipulation

Title Venue Date Code
TriVLA: A Unified Triple-System-Based Unified Vision-Language-Action Model for General Robot Control arXiv 2025-07-01 Project
RationalVLA: A Rational Vision-Language-Action Model with Dual System arXiv 2025-06-12 Project
Fast-in-Slow: A Dual-System Foundation Model Unifying Fast Manipulation within Slow Reasoning arXiv 2025-06-02 Star Github
Hume: Introducing System-2 Thinking in Visual-Language-Action Model arXiv 2025-05-27 Star Github
OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation arXiv 2025-05-06 Star Github
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control arXiv 2025-02-09 Star Github
RoboDual: Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation arXiv 2024-10-10 Star Github
DP-VLA: A Dual Process VLA: Efficient Robotic Manipulation Leveraging VLM CoRL 2024 2024-10-21 -
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers CoRL 2024 2024-09-12 -
LCB: From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Control IROS 2024 2024-05-08 Project

Humanoid Robot

Title Venue Date Code
Helix: A Vision-Language-Action Model for Generalist Humanoid Control - - Porject

❌ Not a Dual-System VLA

Robot Manipulation

Title Venue Date Code
OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning arXiv 2025-05-17 Star Github
NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks arXiv 2025-04-28 Star Github
π0.5: a Vision-Language-Action Model with Open-World Generalization arXiv 2025-04-22 Project
π0: A Vision-Language-Action Flow Model for General Robot Control arXiv 2024-10-31 Project
PIVOT-R: Primitive-Driven Waypoint-Aware World Model for Robotic Manipulation NeurIPS 2024 2024-10-14 Star Github
MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models CoRL 2023 2024-01-25 Star Github

Humanoid Robot

Title Venue Date Code
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots arXiv 2025-03-18 Porject

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A comprehensive list of papers about dual-system VLA models, including papers, codes, and related websites.

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