GeoPredict improves VLA manipulation accuracy by adding predictive kinematic trajectories and 3D Gaussian workspace geometry as training-time depth-rendering supervision.
Storm: Efficient stochastic transformer based world models for reinforcement learning.Advances in Neural In- formation Processing Systems, 36:27147–27166, 2023
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GeoPredict: Leveraging Predictive Kinematics and 3D Gaussian Geometry for Precise VLA Manipulation
GeoPredict improves VLA manipulation accuracy by adding predictive kinematic trajectories and 3D Gaussian workspace geometry as training-time depth-rendering supervision.