title: OpenHelix: A Short Survey, Empirical Analysis, and Open-Source
    Dual-System VLA Model for Robotic Manipulation
summary: 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/.
paper_authors._id: 681c549cb322a2fe864c8b0d
paper_authors.name: Can Cui
paper_authors._id: 681c549cb322a2fe864c8b0e
paper_authors.name: Pengxiang Ding
paper_authors._id: 681c549cb322a2fe864c8b0f
paper_authors.name: Wenxuan Song
paper_authors._id: 681c549cb322a2fe864c8b10
paper_authors.name: Shuanghao Bai
paper_authors._id: 681c549cb322a2fe864c8b11
paper_authors.name: Xinyang Tong
paper_authors._id: 681c549cb322a2fe864c8b12
paper_authors.name: Zirui Ge
paper_authors._id: 681c549cb322a2fe864c8b13
paper_authors.name: Runze Suo
paper_authors._id: 681c549cb322a2fe864c8b14
paper_authors.name: Wanqi Zhou
paper_authors._id: 681c549cb322a2fe864c8b15
paper_authors.name: Yang Liu
paper_authors._id: 681c549cb322a2fe864c8b16
paper_authors.name: Bofang Jia
paper_authors._id: 681c549cb322a2fe864c8b17
paper_authors.name: Han Zhao
paper_authors._id: 681c549cb322a2fe864c8b18
paper_authors.name: Siteng Huang
paper_authors._id: 681c549cb322a2fe864c8b19
paper_authors.name: Donglin Wang
paper_title: OpenHelix: A Short Survey, Empirical Analysis, and Open-Source
    Dual-System VLA Model for Robotic Manipulation
paper_summary: 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/.
paper_ai_summary: The paper summarizes and compares dual-system VLA architectures, evaluates their core design elements, and provides an open-source model for further exploration in embodied intelligence.
paper_ai_keywords: embodied intelligence dual-system VLA architectures open-source model performance analysis performance optimization