WARP-VLA is a Vision‑Language‑Action model designed to be robust to variations in wrist‑camera viewpoints. It uses a Mixture‑of‑Experts architecture where each expert learns a view‑specific feature transformation, and a router selects the appropriate expert based on implicit view cues, eliminating the need for explicit camera extrinsic parameters. Experiments on the LIBERO benchmark show that WARP‑VLA doubles the success rate of pi‑0.5 from 39.2% to 78.3% under wrist‑view perturbations, and real‑robot tests confirm that the simulation‑learned adaptation transfers to diverse deployment settings.
By Junmyeong Lee, Dongmin Shin, Min-Gyu Park, Wooseok Jeon, Inho Chang, Hae-Gon Jeon
arXiv:2602. 19710v3 Announce Type: replace-cross Abstract: Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision.
By Haitao Lin, Hanyang Yu, Jingshun Huang, He Zhang, Yonggen Ling, Ping Tan, Xiangyang Xue, Yanwei Fu
ActiveScale is a framework that enhances active perception for robots by integrating model, data, and hardware innovations. It augments vision‑language‑action models with historical video observations and explicit camera‑pose supervision, and introduces a scalable human‑robot mid‑training recipe using 1000 hours of egocentric and robotic data. The Active‑perception Mobile‑manipulation Platform (AMP) enables single‑operator teleoperation for scalable demonstration collection, leading to improved success rates on active‑perception tasks.
By Shuai Zhou, Kaisheng Pang, Wenxuan Song, Wenjie Zhang, Xinhu Zheng, Haoang Li
arXiv:2609.24424v1 Announce Type: new
Abstract: Monocular RGB-based hand pose estimation has emerged as a critical research frontier in computer vision. The local hand pose estimation methods predict...
By Kaiwen Ren, Yiran Jiang, Yongjing Ye, Shihong Xia
Action-conditioned latent world models predict future visual representations, enabling zero-shot goal-conditioned robot planning and control. However, their predictions for fine-grained spatial and ro...
arXiv:2606. 00054v1 Announce Type: cross Abstract: Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models.
By Zhiyuan Feng, Qixiu Li, Huizhi Liang, Rushuai Yang, Yichao Shen, Zhiying Du, Zhaowei Zhang, Yu Deng, Li Zhao, Hao Zhao, Zongqing Lu, Oier Mees, Marc Pollefeys, Jiaolong Yang, Baining Guo
arXiv:2609.38443v1 Announce Type: cross
Abstract: We introduce BIND, a new action representation for visuomotor robot policies that binds 3D robot actions to their corresponding 2D image features, yi...
By Cameron Smith, Arsh Tangri, Vitor Guizilini, Yue Wang, Zubair Irshad, Sergey Zakharov
The paper introduces a metric interaction framework for robotic manipulation that explicitly models object- and scene-level interactions in Cartesian space. It uses Interaction‑Centric Tokens (ICTs) to represent end‑effector trajectories relative to objects and a Metric Action Interaction Field (MAIF) to attend to scene point‑cloud features for geometry‑conditioned action corrections. Experiments show modest but consistent improvements across several benchmarks, including LIBERO, RoboTwin 2.0, and real‑world tasks.
By Lijie Wang, Zheng Lu, Yiming Wang, Heyang Yu, Kenghou Hoi, Bowen Hu, Di Cui, Tianyu Xin, Haoran Liao, Wanqi Zhong, Xingjie Fan, Yizhao Xu, Ziliang Wang, Fei Gao, Yiming Li
arXiv:2606. 20118v1 Announce Type: cross Abstract: Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or geometry deviates from the training distribution.
By Jonghoon Lee, Seong Hyeon Park, Byungwoo Jeon, Minha Lee, Jinwoo Shin
InfiNoVA is a data‑augmentation framework that transforms synchronized multi‑camera demonstrations into a dense, geometrically consistent set of training views by reconstructing each manipulation trajectory as a time‑varying 3D Gaussian. The method renders novel observations from sampled camera poses while preserving the original state‑action pairs, improving frame‑level fidelity and temporal consistency compared to generative synthesis. Across four real‑world manipulation tasks, policies trained with InfiNoVA achieve 5.4× higher average success under unseen randomized viewpoints than VISTA‑based augmentation and 1.7× higher success than training on all five physical camera views.
By Sai Puneeth Reddy Gottam, Elmar Rueckert, Vedant Dave
arXiv:2608. 14028v1 Announce Type: cross Abstract: Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult because robot demonstrations are expensive to collect and action spaces vary across embodiments.
By Zhiyue Zhao, Jingyi Wu, Hairuo Liu, Mingyu Liu, Liyang Li, Hengdi Zhang, Tong He, Zhengxue Cheng
Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Hum...