OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry. We propose OASIS, a visuomotor policy that aligns the intermediate representation with
Record details
Published: 25 May 2026
Source: arXiv
Category: Research
Topics: Regulation · Safety & alignment · Agents & autonomy
Retrieved: 14 July 2026
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ethics.ai (25 May 2026), “OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation,” evidence record 3737, https://ethics.ai/record/3737 (originally published by arXiv).
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