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. The mismatch is benign under a fixed viewpoint, where the policy can memorize a single observation-to-action mapping, but grows harder as large-scale datasets aggregate demonstra
Record details
Published: 13 July 2026
Source: arXiv cs.AI
Category: Research
Topics: Regulation · Agents & autonomy
Retrieved: 14 July 2026
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ethics.ai (13 July 2026), “See like a Robot: Robot-Centric Pointmaps for Vision-Language-Action Models,” evidence record 3054, https://ethics.ai/record/3054 (originally published by arXiv cs.AI).
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