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arXiv · 2505.03912

OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation

Can Cui·Pengxiang Ding·Wenxuan Song·Shuanghao Bai·Xinyang Tong·Zirui Ge·Runze Suo·Wanqi Zhou·Yang Liu·Bofang Jia·Han Zhao·Siteng Huang·Donglin Wang
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Abstract

Dual-system VLA (Vision-Language-Action) architectures have become a hot topic in embodied intelligence research, but there is a lack of sufficient open-source work for further performance analysis and optimization. To address this problem, this paper will summarize and compare the structural designs of existing dual-system architectures, and conduct systematic empirical evaluations on the core design elements of existing dual-system architectures. Ultimately, it will provide a low-cost open-source model for further exploration. Of course, this project will continue to update with more experimental conclusions and open-source models with improved performance for everyone to choose from. Project page: https://openhelix-robot.github.io/.

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Can Cui, Pengxiang Ding, Wenxuan Song, Shuanghao Bai, Xinyang Tong, Zirui Ge, Runze Suo, Wanqi Zhou, Yang Liu, Bofang Jia, Han Zhao, Siteng Huang, Donglin Wang. 2025-05-06. OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation. https://arxiv.org/abs/2505.03912

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