SPEAR-1 combines a 3D-enriched VLM with embodied control to match or exceed existing robotic foundation models using 20 times fewer robot demonstrations.
Finally, the featuresF ′ =F+P ′ are fed to PaliGemma’s SigLIP linear projector, where F∈R h×w×d denotes the features at the SigLIP encoder output
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SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
SPEAR-1 combines a 3D-enriched VLM with embodied control to match or exceed existing robotic foundation models using 20 times fewer robot demonstrations.