Helix is Figure’s proprietary on-board Vision-Language-Action model, first announced in February 2025 and significantly upgraded as Helix 02 in January
RT-2 (Robotics Transformer 2) is a Vision-Language-Action model published by Google DeepMind in 2023 that pioneered the modern VLA paradigm.
Ï€0 (Pi-Zero) is a robot foundation model released in late 2024 by Physical Intelligence, a San Francisco AI startup focused
OpenVLA is a 7-billion-parameter open-source Vision-Language-Action (VLA) model released in 2024 by a Stanford / UC Berkeley / Toyota Research




