OpenHelix: A Short Survey, Empirical Analysis, and Open-Source
  Dual-System VLA Model for Robotic Manipulation
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/.
681c549cb322a2fe864c8b0d
Can Cui
681c549cb322a2fe864c8b0e
Pengxiang Ding
681c549cb322a2fe864c8b0f
Wenxuan Song
claimed_verified
2025-09-15T15:10:20.662Z
66a0a3405c5e2a42a214c70f
/avatars/52b9ee7f899ee5431ed37fd1db378d9e.svg
Wenxuan Song
user
Wenxuan123
681c549cb322a2fe864c8b10
Shuanghao Bai
681c549cb322a2fe864c8b11
Xinyang Tong
681c549cb322a2fe864c8b12
Zirui Ge
681c549cb322a2fe864c8b13
Runze Suo
681c549cb322a2fe864c8b14
Wanqi Zhou
681c549cb322a2fe864c8b15
Yang Liu
681c549cb322a2fe864c8b16
Bofang Jia
681c549cb322a2fe864c8b17
Han Zhao
681c549cb322a2fe864c8b18
Siteng Huang
681c549cb322a2fe864c8b19
Donglin Wang
OpenHelix: A Short Survey, Empirical Analysis, and Open-Source
  Dual-System VLA Model for Robotic Manipulation
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/.
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.
embodied intelligence dual-system VLA architectures open-source model performance analysis performance optimization