3D HAMSTER augments a VLM with depth encoding and reconstruction to predict 3D waypoints that directly guide pointcloud policies, outperforming 2D baselines especially under distribution shifts.
Generalvla: Generalizable vision-language-action models with knowledge-guided trajectory planning,
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3D HAMSTER: Bridging Planning and Control in Hierarchical Vision Language Action Models through 3D Trajectory Guidance
3D HAMSTER augments a VLM with depth encoding and reconstruction to predict 3D waypoints that directly guide pointcloud policies, outperforming 2D baselines especially under distribution shifts.