Dan Milea from Wind River has written a blog post “Hypervisor-less virtio: Assembling Multi-OS systems using standards-based protocols for intra-SoC connectivity and device sharing”.
Summary: Hypervisor-less virtio can complement and enhance the OpenAMP RPMsg framework by providing communication and resource sharing between a rich execution environment like Linux, running the Physical Machine Monitor (PMM) software and acting as the OpenAMP master, and an application specific real-time or safety island deployed on the remote processor. By eliminating the hypervisor, a “lateral” communication framework like hypervisor-less virtio enables role assignments (similar to OpenAMP master and remote) based on application requirements and the ability of each of the runtimes to support the PMM.
You can read more of the blog post here.