视觉-语言-动作模型研究综述:迈向通用机器人OA

The vision-language-action(VLA)model,as an important research direction in embodied intelligence,aims to overcome the semantic fragmentation and generalization bottleneck of traditional robot systems in open environments by deeply integrating perception,understanding,and action.Based on the relevant progress in the VLA field,this paper first reviews the development history and current research status of VLA models.Then,from the perspective of system archi-tecture,existing models are classified into three types:monolithic,cascaded,and hierarchical,and the design ideas and representative progress of each type of architecture are analyzed in depth.At the same time,the relevant datasets and eval-uation benchmarks that support VLA research are systematically summarized.Finally,based on the representative achieve-ments in recent years,the core challenges faced by current VLA models are analyzed,and the future development direc-tions are prospected.