• [Soon] We plan to release SLA v2 arXiv, with formal version instead of SLA-Preview on Robodojo and RoboCasa365 results and checkpoints.
• [2026/11/07] We released SLA on ArXiv.
• [2026/07/07] We got the first place on the generalization dimension and second place on the average of all 5 dimensions of the comprehensive embodied leaderboard RoboDojo.
• [2026/01/27] Spatial Forcing is accepted by ICLR 2026!🎉
• [2025/10/28] We released our codes based on Pi_0 in real world! Everyone is welcome to use it!🎉
• [2025/10/24] 🏆 Congradulations to Jialong! He and our SF got the second place in Agibot World Challenge as well as 5000$ prize💰!
• [2025/10/18] Spatial Forcing won the 🥇first place in the daily list and 🥉third place in the weekly list in HF! ⭐
• [2025/10/12] We released Spatial Forcing on ArXiv.

SLA has become a superior replacement for Spatial Forcing. We recommand to use SLA in most cases.

• (SLA) To reproduce SLA simulation and real-world results and deployments, ref to our SLA folder.

• (Spatial Forcing) To reproduce SF simulation results, ref to our openvla-SF folder.

• (Spatial Forcing) To deploy SF policy in real-world robots, ref to our openpi-SF folder.

For further discussion and collaboration, please feel free to contact us via Email and WeChat:

We thank these great works and open-source codebases: OpenVLA-OFT & OpenPI & VGGT & REPA & OmniVGGT.

If you find this work useful, please cite:

@article{sla2026,
  title     = {SLA: Scaling Spatial-Language-Action Model via Continual Pre-training},
  author    = {Li, Fuhao and Song, Wenxuan and Huang, Qizhou and Zhou, Ziyang and Wang, Jingbo and E, Junwu and Wang, Pengwei and Wang, Yan and Zhou, Shunbo and Li, Haoang},
  journal   = {arXiv preprint arXiv:2611.08373},
  year      = {2026}
}
@article{spatialforcing2025,
  title     = {Spatial Forcing: Implicit Spatial Representation Alignment For Vision-Language-Action Model},
  author    = {Li Fuhao, Song Wenxuan, Zhao Han, Wang Jingbo, Ding Pengxiang, Wang Donglin, Zeng Long, Li Haoang},
  journal   = {arXiv preprint arXiv:2510.12276},
  year      = {2025},
}