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arXiv:2610.29866v1 Announce Type: new Abstract: Geometric structure is essential for robotic manipulation and understanding the 3D world. Most VLA models rely on 2D representations of current observa...
FOCAL‑VLA is a framework that improves vision‑language‑action models by combining subtask‑guided geometry distillation with implicit world modeling. It transfers geometric knowledge from VGGT to focus on subtask‑relevant image regions and uses Track4World features to capture future 3D evolution, guiding action generation without running these models at inference time. Experiments demonstrate that FOCAL‑VLA outperforms baselines on both simulation benchmarks and real‑world manipulation tasks.
arXiv:2606. 24472v1 Announce Type: cross Abstract: Vision-language-action (VLA) models have made rapid progress in generalist robot manipulation by harnessing semantic knowledge from pretrained vision-language backbones, but their visual tokens remain grounded in 2D image coordinates rather than the calibrated geometry of the robot's cameras -- a mismatch especially pronounced in multi-camera setups, where views are coupled by known intrinsics and extrinsics yet processed as independent images.
arXiv:2606. 17046v1 Announce Type: cross Abstract: Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot actions interact in the 3D physical world.
ForeAct3D is a framework that grounds future world modeling in Vision‑Language‑Action policies by decoding depth, semantic segmentation, and camera pose from policy representations into current and future 3D scene states. The future queries are conditioned on the policy‑generated action chunk, and a physical‑consistency closure enforces background staticity, instance‑level rigidity, and wrist‑camera pose alignment with end‑effector kinematics. This approach eliminates the need for future prediction at inference and achieves high success rates on LIBERO and CALVIN, outperforming the base policy across all suites.
arXiv:2608. 07267v1 Announce Type: new Abstract: Recent vision-language navigation (VLN) systems increasingly adapt pretrained vision-language models (VLMs) into vision-language-action (VLA) policies that map egocentric observations and language instructions directly to navigation actions.