Knowledge Graph - Heungwoo/research GitHub Wiki
A visual map of how the wiki's pages connect. Click any node to jump to that page (GitHub renders these Mermaid graphs; if your viewer disables click-through, use the wikilink legend under each graph). Five views: the overall map, how the cross-paper reviews interconnect, the model lineages, the world-model thematic cluster, and the RSS 2026 improvement-loop cluster.
← Back to Home · full list in the sidebar.
flowchart TB
HOME(["🏠 Home"])
HOME --> V["By venue"]
HOME --> R["By topic review"]
HOME --> L["By model lineage"]
HOME --> F["Foundational refs"]
V --> RSS["RSS 2026 🆕"]
V --> ICLR["ICLR 2026"]
V --> ICRA["ICRA 2026"]
V --> ICML["ICML 2026"]
V --> CVPR["CVPR 2026/25"]
V --> NEUR["NeurIPS 2025"]
V --> CORL["CoRL 2025"]
V --> IROS["IROS 2025"]
R --> ARCHm["VLA Architectures<br/>(hub review)"]
R --> WMm["World Models"]
R --> RLm["RL for VLA"]
R --> more["+ 8 more reviews →<br/>see graph 2"]
L --> pim["π-series"]
L --> grootm["GR00T N1→N1.7"]
L --> rtcm["RTC → REMAC"]
click RSS "https://github.com/Heungwoo/research/wiki/RSS-2026-VLA-Manipulation-Survey"
click ICML "https://github.com/Heungwoo/research/wiki/ICML-2026"
click ICLR "https://github.com/Heungwoo/research/wiki/ICLR-2026-VLA-Manipulation-Survey"
click ICRA "https://github.com/Heungwoo/research/wiki/ICRA-2026-VLA-Manipulation-Survey"
click CVPR "https://github.com/Heungwoo/research/wiki/CVPR-2026-VLA-Manipulation-Survey"
click NEUR "https://github.com/Heungwoo/research/wiki/NeurIPS-2025-VLA-Manipulation-Survey"
click CORL "https://github.com/Heungwoo/research/wiki/CoRL-2025-VLA-Manipulation-Survey"
click IROS "https://github.com/Heungwoo/research/wiki/IROS-2025-VLA-Manipulation-Survey"
click ARCHm "https://github.com/Heungwoo/research/wiki/Review-VLA-Architecture"
click WMm "https://github.com/Heungwoo/research/wiki/Review-World-Models"
click RLm "https://github.com/Heungwoo/research/wiki/RL"
Legend: Venues → RSS 2026 🆕 · ICLR 2026 · ICRA 2026 · ICML 2026 · CVPR 2026 · NeurIPS 2025 · CoRL 2025 · IROS 2025.
flowchart LR
ARCH["VLA Architectures"]
WM["World Models"]
VLMA["VLM↔Action"]
ATTN["VLA Attention"]
SYS["System 0/1/2"]
RL["RL for VLA"]
MEM["VLA Memory"]
XEMB["Cross-Embodiment"]
GOAL["Goal-Image Cond."]
DEX["Dexterous Manip."]
WAM["WAM vs VLA Robustness"]
MLF["ML foundations"]
TAC["Tactile VLA"]
HUM["Humanoid VLA"]
ARCH ---|"Category E, expanded"| WM
ARCH ---|"wiring axis"| VLMA
ARCH ---|"attention axis"| ATTN
ARCH --- XEMB
ARCH --- MEM
ARCH --- DEX
WM ---|"empirical check"| WAM
WM ---|"WM-as-prompt overlap"| GOAL
WM ---|"world-model RFT"| RL
GOAL --- ARCH
SYS ---|"S2→S1 hand-off"| VLMA
SYS --- DEX
DEX --- XEMB
MEM --- XEMB
MLF --- ATTN
DEX ---|"predict future contact<br/>(RSS 2026: ViTacFormer, CGP)"| TAC
TAC --- ARCH
HUM --- SYS
HUM ---|"Ψ₀, HoMMI (RSS 2026)"| XEMB
RL ---|"improvement loop<br/>(RSS 2026: RECAP et al.)"| ARCH
click TAC "https://github.com/Heungwoo/research/wiki/Review-Tactile-VLA"
click HUM "https://github.com/Heungwoo/research/wiki/Review-Humanoid-VLA"
click ARCH "https://github.com/Heungwoo/research/wiki/Review-VLA-Architecture"
click WM "https://github.com/Heungwoo/research/wiki/Review-World-Models"
click VLMA "https://github.com/Heungwoo/research/wiki/Review-VLM-Action-Connection"
click ATTN "https://github.com/Heungwoo/research/wiki/Review-VLA-Attention"
click SYS "https://github.com/Heungwoo/research/wiki/Review-System-0-1-2"
click RL "https://github.com/Heungwoo/research/wiki/RL"
click MEM "https://github.com/Heungwoo/research/wiki/Review-VLA-Memory"
click XEMB "https://github.com/Heungwoo/research/wiki/Review-Cross-Embodiment"
click GOAL "https://github.com/Heungwoo/research/wiki/Review-Goal-Image-Conditioning"
click DEX "https://github.com/Heungwoo/research/wiki/Review-Dexterous-Manipulation"
click WAM "https://github.com/Heungwoo/research/wiki/Review-WAM-vs-VLA-Robustness"
click MLF "https://github.com/Heungwoo/research/wiki/ML"
Legend: VLA Architectures · World Models · VLM↔Action · VLA Attention · System 0/1/2 · RL for VLA · VLA Memory · Cross-Embodiment · Goal-Image Conditioning · Dexterous Manipulation · Tactile VLA 🆕 · Humanoid VLA 🆕 · WAM vs VLA Robustness · ML foundations.
flowchart LR
subgraph PI["π-series (Physical Intelligence)"]
p0["π0"] --> p05["π0.5"] --> p06["π0.6"] --> rec["π*0.6 / RECAP<br/>(RSS 2026 oral)"] --> p07["π0.7"]
end
subgraph GR["NVIDIA GR00T"]
g1["N1"] --> g15["N1.5"] --> g16["N1.6"] --> g17["N1.7"]
end
subgraph OV["OpenVLA family"]
ov["OpenVLA"] --> oft["OpenVLA-OFT / FASTER"]
end
subgraph RTC["Real-time chunking line"]
rtc["RTC"] --> ttr["training-time RTC<br/>(PI, ext.)"] --> rem["REMAC"] --> asy["AsyncVLA"]
rtc -->|"internalized"| leg["Legato (RSS 2026)"]
ttr -.->|"adopted by"| psi["Ψ₀ deployment"]
end
subgraph LBM["TRI LBM co-training line 🆕"]
lbm1["ICLR study"] --> lbm2["89-policy study<br/>(RSS 2026)"]
end
subgraph LIB["LIBERO robustness line 🆕"]
lib0["LIBERO"] --> libp["LIBERO-Plus"] --> libx["LIBERO-X<br/>(RSS 2026)"]
end
click leg "https://github.com/Heungwoo/research/wiki/RSS-2026-Legato"
click psi "https://github.com/Heungwoo/research/wiki/Review-Psi0"
click lbm1 "https://github.com/Heungwoo/research/wiki/Review-LBM-Cotraining"
click lbm2 "https://github.com/Heungwoo/research/wiki/RSS-2026-LBM-Cotraining-Study"
click libp "https://github.com/Heungwoo/research/wiki/CVPR-2026-LIBERO-Plus"
click libx "https://github.com/Heungwoo/research/wiki/RSS-2026-LIBERO-X"
click p05 "https://github.com/Heungwoo/research/wiki/CoRL-2025-pi05"
click p06 "https://github.com/Heungwoo/research/wiki/PI-pi06"
click rec "https://github.com/Heungwoo/research/wiki/PI-RECAP"
click p07 "https://github.com/Heungwoo/research/wiki/PI-pi07"
click g17 "https://github.com/Heungwoo/research/wiki/Review-GR00T-Series"
click g1 "https://github.com/Heungwoo/research/wiki/Review-GR00T-Series"
click ov "https://github.com/Heungwoo/research/wiki/CoRL-2024-OpenVLA"
click oft "https://github.com/Heungwoo/research/wiki/ICLR-2026-FASTER"
click rtc "https://github.com/Heungwoo/research/wiki/NeurIPS-2025-Real-Time-Chunking"
click rem "https://github.com/Heungwoo/research/wiki/ICLR-2026-Masked-Action-Chunking"
click asy "https://github.com/Heungwoo/research/wiki/Review-AsyncVLA"
Legend: π — π series evolution · π0.5 · π0.6 · π*0.6/RECAP · π0.7 (long-form). GR00T — N1→N1.7. OpenVLA — OpenVLA → FASTER. RTC — RTC → REMAC → AsyncVLA; RSS 2026 branch: Legato (native continuation) and training-time RTC adopted in Ψ₀. LBM — ICLR study → RSS 89-policy study. LIBERO — LIBERO-Plus → LIBERO-X.
flowchart TB
WMR["World Models review"]
WMR --> back["Backbone / VAM"]
WMR --> uwm["Unified WM + policy 🆕"]
WMR --> rlenv["RL environment"]
WMR --> data["Data factory"]
WMR --> plan["Planner / IDM-decode"]
back --> cosmos["Cosmos-Policy"]
back --> genie["Genie-Envisioner"]
back --> mimic["mimic-video<br/>(RSS 2026, 10× sample-eff.)"]
uwm --> lda["LDA-1B<br/>(RSS 2026, DINO-latent dynamics)"]
rlenv --> wmpo["WMPO"]
rlenv --> ctrl["Ctrl-World"]
rlenv --> wgym["WorldGym"]
data --> dgen["DreamGen"]
data --> qrw["Qwen-RobotWorld<br/>(language-actioned)"]
plan --> goalv["Goal-VLA"]
WMR --> aux["Aux loss → DreamVLA"]
WMR ---|"empirical check"| wamr["WAM vs VLA Robustness"]
WMR ---|"WM-as-prompt"| goalc["Goal-Image review"]
click mimic "https://github.com/Heungwoo/research/wiki/RSS-2026-mimic-video"
click lda "https://github.com/Heungwoo/research/wiki/RSS-2026-LDA-1B"
click qrw "https://github.com/Heungwoo/research/wiki/Review-Qwen-RobotWorld"
click WMR "https://github.com/Heungwoo/research/wiki/Review-World-Models"
click cosmos "https://github.com/Heungwoo/research/wiki/ICLR-2026-Cosmos-Policy"
click genie "https://github.com/Heungwoo/research/wiki/ICLR-2026-Genie-Envisioner"
click wmpo "https://github.com/Heungwoo/research/wiki/ICLR-2026-WMPO"
click ctrl "https://github.com/Heungwoo/research/wiki/ICLR-2026-Ctrl-World"
click wgym "https://github.com/Heungwoo/research/wiki/ICLR-2026-WorldGym"
click dgen "https://github.com/Heungwoo/research/wiki/CoRL-2025-DreamGen"
click goalv "https://github.com/Heungwoo/research/wiki/ICRA-2026-Goal-VLA"
click aux "https://github.com/Heungwoo/research/wiki/NeurIPS-2025-DreamVLA"
click wamr "https://github.com/Heungwoo/research/wiki/Review-WAM-vs-VLA-Robustness"
click goalc "https://github.com/Heungwoo/research/wiki/Review-Goal-Image-Conditioning"
Legend: World Models · Cosmos-Policy · Genie-Envisioner · mimic-video 🆕 · LDA-1B 🆕 · WMPO · Ctrl-World · WorldGym · DreamGen · Qwen-RobotWorld 🆕 · Goal-VLA · DreamVLA · WAM vs VLA Robustness · Goal-Image Conditioning.
flowchart TB
RSSV["RSS 2026 survey"]
RSSV --> T1["1 · RL from experience"]
RSSV --> T2["2 · Human-video transfer"]
RSSV --> T3["3 · Video/world models"]
RSSV --> T4["4 · Contact as representation"]
RSSV --> T5["5 · Cross-embodiment hands"]
RSSV --> T6["6 · Evaluation infrastructure"]
T1 --> recap["π*0.6 / RECAP"]
T2 --> h2r["H2R Emergence (PI)<br/>co-train, emerges w/ diversity"]
T2 --> psi0["Ψ₀ (in-depth)<br/>decouple: video→VLM, robot→expert"]
T2 --> hommi["HoMMI"]
h2r ---|"⇄ the open fork"| psi0
T3 --> mimicv["mimic-video (VAM)"]
T3 --> lda1b["LDA-1B (unified WM)"]
T4 --> vitac["ViTacFormer"]
T4 --> cgp["Contact-Grounded Policy"]
T5 --> dgz["DexGrasp-Zero"]
T5 --> ohra["One Hand to Rule Them All"]
T6 --> polaris["PolaRiS (real-to-sim)"]
T6 --> libx2["LIBERO-X"]
RSSV --> lbms["LBM co-training study (TRI)<br/>cross-cutting data anchor"]
RSSV --> mech["Inference mechanics:<br/>OAT · Legato"]
click RSSV "https://github.com/Heungwoo/research/wiki/RSS-2026-VLA-Manipulation-Survey"
click recap "https://github.com/Heungwoo/research/wiki/PI-RECAP"
click h2r "https://github.com/Heungwoo/research/wiki/RSS-2026-Human2Robot-Emergence"
click psi0 "https://github.com/Heungwoo/research/wiki/Review-Psi0"
click hommi "https://github.com/Heungwoo/research/wiki/RSS-2026-HoMMI"
click mimicv "https://github.com/Heungwoo/research/wiki/RSS-2026-mimic-video"
click lda1b "https://github.com/Heungwoo/research/wiki/RSS-2026-LDA-1B"
click vitac "https://github.com/Heungwoo/research/wiki/RSS-2026-ViTacFormer"
click cgp "https://github.com/Heungwoo/research/wiki/RSS-2026-Contact-Grounded-Policy"
click dgz "https://github.com/Heungwoo/research/wiki/RSS-2026-DexGrasp-Zero"
click ohra "https://github.com/Heungwoo/research/wiki/RSS-2026-One-Hand"
click polaris "https://github.com/Heungwoo/research/wiki/RSS-2026-PolaRiS"
click libx2 "https://github.com/Heungwoo/research/wiki/RSS-2026-LIBERO-X"
click lbms "https://github.com/Heungwoo/research/wiki/RSS-2026-LBM-Cotraining-Study"
click mech "https://github.com/Heungwoo/research/wiki/RSS-2026-OAT"
Legend: RSS 2026 survey · π*0.6+RECAP · H2R Emergence · Ψ₀ · HoMMI · mimic-video · LDA-1B · ViTacFormer · Contact-Grounded Policy · DexGrasp-Zero · One-Hand · PolaRiS · LIBERO-X · LBM co-training study · OAT · Legato.
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