See like a Robot: Robot-Centric Pointmaps for Vision-Language-Action Models
Vision-language-action (VLA) models predict robot actions from visual observations and language instructions. These actions are defined in the robot's own 3D coordinate frame, yet most VLAs observe the scene in the camera frame, creating a frame mismatch between where the scene is observed and where actions are defined...
Byungkun Lee, Dongyoon Hwang, Dongjin Kim et al.
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