SAM3D-Guided Object-Centric Representation Alignment for Vision-Language-Action Models
Vision-Language-Action (VLA) models have shown strong potential for general robot manipulation, but most existing models rely on 2D visual-language backbones and lack fine-grained 3D understanding of target objects, especially under occlusion, pose variation, scale changes, and precise spatial interaction. We propose an object-centric 3D representation alignment framework built upon $π_0$, using SAM3D as a frozen 3D teacher to provide target-object 3D priors during training. Specifically, we loc
Record details
Published: 28 July 2026
Source: arXiv
Category: Research
Topics: Safety & alignment · Agents & autonomy
Retrieved: 29 July 2026
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ethics.ai (28 July 2026), “SAM3D-Guided Object-Centric Representation Alignment for Vision-Language-Action Models,” evidence record 14131, https://ethics.ai/record/14131 (originally published by arXiv).
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