OpenHelix: A Short Survey, Empirical Analysis, and Open-Source
  Dual-System VLA Model for Robotic Manipulation
Authors: name: Can Cui, name: Pengxiang Ding, name: Wenxuan Song, name: Shuanghao Bai, name: Xinyang Tong, name: Zirui Ge, name: Runze Suo, name: Wanqi Zhou, name: Yang Liu, name: Bofang Jia, name: Han Zhao, name: Siteng Huang, name: Donglin Wang

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/.