GeoPredict improves VLA manipulation accuracy by adding predictive kinematic trajectories and 3D Gaussian workspace geometry as training-time depth-rendering supervision.
3d gaussian splatting for real-time radiance field rendering.ACM Transactions on Graphics (TOG), 42(4):1–14, 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.