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<!DOCTYPE html>
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<meta charset="utf-8" />
<meta name="description" content="SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models" />
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<title>SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models</title>
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<div class="column has-text-centered">
<h1 class="title is-1 publication-title">
SpatialVLA<br />
Exploring Spatial Representations for<br />
Visual-Language-Action Models
</h1>
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<div class="is-size-6 publication-authors has-text-centered">
<span class="author-block"><a href="https://github.com/DelinQu">Delin Qu</a><sup>*,1</sup>,</span>
<span class="author-block"><a href="https://github.com/HaomingSong">Haoming Song</a><sup>*,1</sup>,</span>
<span class="author-block"><a href="https://github.com/Tavish9">Qizhi Chen</a><sup>*,1</sup>,</span>
<span class="author-block"><a href="https://ceciliayao.github.io">Yuanqi Yao</a><sup>1</sup>,</span>
<span class="author-block"><a href="">Xinyi Ye</a><sup>1</sup>,</span>
<span class="author-block"><a href="">Yan Ding</a><sup>1</sup>,</span>
<span class="author-block"><a href="">Zhigang Wang</a><sup>1</sup>,</span>
<span class="author-block"><a href="https://scholar.google.com/citations?user=YH1v2uYAAAAJ&hl=en">JiaYuan Gu</a><sup>2</sup>,</span>
<span class="author-block"><a href="https://scholar.google.com.hk/citations?user=DQB0hqwAAAAJ&hl=zh-CN">Bin Zhao</a><sup>1</sup>,</span>
<span class="author-block"><a href="https://scholar.google.es/citations?user=dasL9V4AAAAJ&hl=zh-CN">Dong Wang</a><sup>1</sup>,</span>
<span class="author-block"><a href="https://scholar.google.com.hk/citations?hl=zh-CN&user=ahUibskAAAAJ">Xuelong Li</a><sup>1,3</sup></span>
</div>
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<div class="is-size-5 publication-authors">
<span class="author-block"> <sup>1</sup>Shanghai AI Laboratory</span>
<span class="author-block"> <sup>2</sup>ShanghaiTech</span>
<span class="author-block"> <sup>3</sup>TeleAI</span><br />
<span class="author-block"><sup>*</sup>denotes equal contribution</span>
</div>
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</span>
<span>Model</span>
</a>
</span>
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</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body" style="display: flex; justify-content: center; align-items: center">
<video style="width: 100%; height: auto; margin: 0%; border-radius: 25px" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/demo.mp4" type="video/mp4" />
</video>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full">
<h2 class="title is-3 has-text-centered">Overview</h2>
<div style="display: flex; justify-content: center">
<div style="display: flex; justify-content: center">
<img src="./static/images/overview.png" alt="The overview of SpatialVLA" style="max-width: 100%; height: auto; margin: 10px" />
</div>
</div>
<p style="text-align: justify">
We present <span class="method-text">SpatialVLA</span>, a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes. The model is equipped with 3D
Egocentric Position Encoding and Adaptive Spatial Grids to explore spatial representations for generalist robot policy, achieving superior 3D scene spatial understanding, zero-shot
in-distribution generalization, and efficient adaption to new robot setups. The model achieves state-of-the-art performance across a diverse range of evaluations and shows significantly
faster inference speed with less tokens per action.
</p>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full">
<h2 class="title is-3 has-text-centered">Pipeline</h2>
<div style="display: flex; justify-content: center">
<div style="display: flex; justify-content: center">
<img src="./static/images/pipeline.png" alt="SpatialVLA Pipeline" class="image is-fullwidth" />
</div>
</div>
<p class="content has-text-justified mt-4">
The pipeline of <span class="method-text">SpatialVLA</span>. Given an image observation \(\mathbf{o}_t\) and a natural language task instruction \(\mathbf{L}\), the model processes the
image observation with Ego3D Position Encoding and auto-regressively predict spatial action tokens that are de-tokenized to continous actions \(\mathbf{A}_t\) for robot control. The
model consists of three key components: (1) the model first extract 2D semantic features with SigLIP vision encoder and inject 3D spatial context with Ego3D Position Encoding; (2) the
spatial action movements are discretized by a unified adaptive action grids and represented with separate spatial action tokens for prediction; (3) the action grids and spatial action
tokens are able to adjust and update for effective adaption to new robot setups.
</p>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full">
<h2 class="title is-3 has-text-centered">Experiment</h2>
<div style="display: flex; justify-content: center">
<div style="display: flex; justify-content: center">
<img src="./static/images/experiment_setup.png" alt="SpatialVLA Experiment Setup" class="image is-fullwidth" />
</div>
</div>
<p class="content has-text-justified mt-4">
We evaluate <span class="method-text">SpatialVLA</span> across 7 robot learning scenarios, 16 real-robot tasks, and 48 simulation setups, focusing on three key aspects: zero-shot
control, spatial understanding, and adaptability to new setups. We also conduct a thorough ablation study on a mixed Fractal and Bridge dataset to verify our design decisions.
</p>
<h3 class="title is-4 has-text-centered">Spatial Understanding</h3>
<p class="content has-text-justified mb-4">
Benefiting from the proposed <b>Ego3D Position Encoding</b>, <span class="method-text">SpatialVLA</span> exhibits superior performance in understanding spatial prompts and complex
spatial layout tasks.
</p>
<div style="display: flex; justify-content: center; flex-wrap: wrap; margin-bottom: 2%">
<p class="content has-text-centered mb-1 text-prompt" style="width: 100%">"Place the plush toy closest to the white robot arm on the green car."</p>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_plush_toy_spatial_grasp_blue.mp4" type="video/mp4" />
</video>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_plush_toy_spatial_grasp_red.mp4" type="video/mp4" />
</video>
</div>
<div style="display: flex; justify-content: center; flex-wrap: wrap">
<p class="content has-text-centered mb-1 text-prompt" style="width: 100%">"Put the green cup on the pink cloth."</p>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_cup_on_stove.mp4" type="video/mp4" />
</video>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_cup_on_yellow_block.mp4" type="video/mp4" />
</video>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_cup_in_sink.mp4" type="video/mp4" />
</video>
<video style="width: 45%; height: 250px; margin: 1%; object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/spatial_understanding/spatial_cup_on_bowl_sink.mp4" type="video/mp4" />
</video>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column content">
<h3 class="title is-4" style="text-align: center">Zero-shot Evaluation</h3>
<p class="content has-text-justified mb-4">
We evaluate <span class="method-text">SpatialVLA</span> across 7 task suites to explore the <b>language grounding</b>, <b>semantic understanding</b>, and
<b>motion sensing</b> capabilities, with varying backgrounds, poses, and motion distractors. <span class="method-text">SpatialVLA</span> achieves the highest average success rate,
outperforming all generalist manipulation policies.
</p>
<div style="display: flex; justify-content: center">
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">average performance</p>
<img src="./static/images/widowx_zeroshot_performace.png" alt="Widowx_zeroshot" style="object-fit: fill; border: 1.5px solid #d3d3d3" />
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">close microwave</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/close_microwave.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">lift red chill pepper</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/lift_red_chill_pepper.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put carrot in plate</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/put_the_carrot_in_the_plate.mp4" type="video/mp4" />
</video>
</div>
</div>
<div style="display: flex; justify-content: center">
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put eggplant in basket</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/put_the_eggplant_in_the_basket.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put cup on white plate</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/put_purple_cup_on_the_white_plate.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put cup on pink cloth</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/put_green_cup_on_the_pink_cloth.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put cup on pink cloth</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/zero_shot_evaluation/put_purple_cup_on_the_pink_cloth.mp4" type="video/mp4" />
</video>
</div>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column content">
<h3 class="title is-4" style="text-align: center">Efficient Finetuning</h3>
<p class="content has-text-justified mb-4">Multi-task finetuning, which involves training on a mixed dataset and testing on multiple tasks.</p>
<div style="display: flex; justify-content: center">
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">push handle aside</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/push_tea.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put banana in basket</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/kitchen_banana.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put pot on cutting board</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/kitchen_pot.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">close drawer</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/close_drawer.mp4" type="video/mp4" />
</video>
</div>
</div>
<p class="content has-text-justified mb-4">Instruction following, which involves operating on different objects within the same scene.</p>
<div style="display: flex; justify-content: center">
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put green cube on toy car</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/three_cube_g.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put blue cube on toy car</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/three_cube_b.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put orange on plate</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/orange.mp4" type="video/mp4" />
</video>
</div>
<div style="width: 23%; height: auto; margin: 1%">
<p class="content has-text-centered mb-1" style="font-style: normal; font-weight: bold; color: black">put croissant on plate</p>
<video style="object-fit: fill" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/efficient_finetuning/croissant.mp4" type="video/mp4" />
</video>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full">
<h2 class="title is-3 has-text-centered">Comparison of Spatial Understanding</h2>
<p class="content has-text-justified mb-4">
Compared to existing policies, <span class="method-text">SpatialVLA</span> shows superior spatial understanding, achieving 73% accuracy in Franka task #1, which involves spatial prompts,
and significantly improving manipulation capabilities for complex positional changes in the out-of-distribution WidowX zero-shot tasks #2-4. Consequently, we suggest
<b>integrating 3D information</b>, including depth or point cloud, into the VLA framework to improve the model's adaptability and robustness in spatial layout variations.
</p>
<img src="./static/images/spatial_capability_performance.png" />
<h3 class="title is-4 mt-3 has-text-centered">Fine-tune Tasks</h3>
<p class="content has-text-centered mb-4 text-prompt">"Place the plush toy closest to the white robot arm on the green car."</p>
<div class="columns is-multiline is-variable is-2">
<div class="column is-3">
<p class="has-text-centered" style="font-weight: bold; color: #f3e0c6">Diffusion Policy ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_finetuning/diffusion_policy_fail_grasp.mp4" type="video/mp4" />
</video>
</div>
<div class="column is-3">
<p class="has-text-centered" style="font-weight: bold; color: #fcc400">Octo ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_finetuning/octo_plush_toy_spatial_grasp_red.mp4" type="video/mp4" />
</video>
</div>
<div class="column is-3">
<p class="has-text-centered" style="font-weight: bold; color: #d9d1e7">OpenVLA ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_finetuning/openvla_plush_toy_spatial_grasp_red.mp4" type="video/mp4" />
</video>
</div>
<div class="column is-3">
<p class="has-text-centered" style="font-weight: bold; color: #4e7de2">SpatialVLA (ours) ✅</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_finetuning/spatialvla_plush_toy_spatial_grasp_blue_2.mp4" type="video/mp4" />
</video>
</div>
</div>
<h3 class="title is-4 mt-3 has-text-centered">Zero-shot Tasks</h3>
<p class="content has-text-centered mb-4 text-prompt">"Put the green cup on the pink cloth."</p>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between">
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #ea4b46">RT-1-X ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/rt_cup_stove.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #57a969">RoboVLM ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/robovlm_cup_stove.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #fcc400">Octo ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/octo_cup_stove.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #d9d1e7">OpenVLA ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/openvla_cup_stove.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #4e7de2">SpatialVLA (ours) ✅</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/spatial_cup_stove.mp4" type="video/mp4" />
</video>
</div>
</div>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between; margin-top: -3%">
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/rt_cup_stove_cube.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/robovlm_cup_stove_cube.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/octo_cup_stove_cube.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_stove/openvla_cup_stove_cube.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot//cup_stove/spatial_cup_stove_cube.mp4" type="video/mp4" />
</video>
</div>
</div>
<p class="content has-text-centered mb-4 text-prompt">"Put the green cup on the pink cloth."</p>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between">
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #ea4b46">RT-1-X ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/rt_cup_sink.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #57a969">RoboVLM ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/robovlm_cup_sink.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #fcc400">Octo ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/octo_cup_sink.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #d9d1e7">OpenVLA ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/openvla_cup_sink.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #4e7de2">SpatialVLA (ours) ✅</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/spatial_cup_sink.mp4" type="video/mp4" />
</video>
</div>
</div>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between; margin-top: -3%">
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/rt_cup_sink_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/robovlm_cup_sink_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/octo_cup_sink_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/cup_sink/openvla_cup_sink_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot//cup_sink/spatial_cup_sink_pot.mp4" type="video/mp4" />
</video>
</div>
</div>
<p class="content has-text-centered mb-4 text-prompt">"Put the carrot in the plate."</p>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between">
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #ea4b46">RT-1-X ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/rt_carrot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #57a969">RoboVLM ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/robovlm_carrot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #fcc400">Octo ❌</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/octo_carrot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #d9d1e7">OpenVLA ⚠️</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/openvla_carrot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<p class="has-text-centered" style="font-weight: bold; color: #4e7de2">SpatialVLA (ours) ✅</p>
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/spatial_carrot.mp4" type="video/mp4" />
</video>
</div>
</div>
<div class="columns is-multiline is-variable is-2" style="justify-content: space-between; margin-top: -3%">
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/rt_carrot_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/robovlm_carrot_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/octo_carrot_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/openvla_carrot_pot.mp4" type="video/mp4" />
</video>
</div>
<div class="column">
<video style="width: 100%; height: auto" controls muted loading="lazy" autoplay loop playsinline>
<source src="./static/videos/comparison_zero_shot/carrot/spatial_carrot_pot.mp4" type="video/mp4" />
</video>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">Citation</h2>
If you find our work helpful, please cite us:
<div style="position: relative">
<pre><code id="bibtex-code">@article{spatialvla2025,
title={SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models},
author={Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, Xuelong Li},
year={2025}
}</code></pre>
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