Pith Number

pith:FK7GK5EV

pith:2024:FK7GK5EV3IMN7ICWKQM3RNM2WV

not attested not anchored not stored refs resolved

3D-VLA: A 3D Vision-Language-Action Generative World Model

Chuang Gan, Haoyu Zhen, Jincheng Yang, Peihao Chen, Xiaowen Qiu, Xin Yan, Yilun Du, Yining Hong

3D-VLA connects 3D perception to robot actions by embedding a generative world model inside a language model.

arxiv:2403.09631 v1 · 2024-03-14 · cs.CV · cs.AI · cs.CL · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{FK7GK5EV3IMN7ICWKQM3RNM2WV}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Our experiments on held-in datasets demonstrate that 3D-VLA significantly improves the reasoning, multimodal generation, and planning capabilities in embodied environments, showcasing its potential in real-world applications.

C2weakest assumption

That a dataset curated by extracting 3D information from existing robotics datasets is diverse and representative enough to train a general-purpose 3D-VLA model that generalizes beyond the training distributions.

C3one line summary

3D-VLA is a new embodied foundation model that uses a 3D LLM plus aligned diffusion models to generate future images and point clouds for improved reasoning and action planning in 3D environments.

References

62 extracted · 62 resolved · 14 Pith anchors

[1] Flamingo: a visual language model for few-shot learning 2022

[2] ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth 2023 · arXiv:2302.12288

[3] Zero-shot robotic manipulation with pretrained image-editing diffusion models 2023

[4] RT-1: Robotics Transformer for Real-World Control at Scale 2022 · arXiv:2212.06817

[5] RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control 2023 · arXiv:2307.15818

Formal links

3 machine-checked theorem links

Cited by

74 papers in Pith

Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation

SSI-Policy: Learning Structured Scene Interfaces for Vision-Language Robotic Manipulation

Inductive Generalization for Robotic Manipulation

MuseVLA: An Adaptive Multimodal Sensing Vision-Language-Action Model for Robotic Manipulation

Receipt and verification

First computed	2026-07-05T07:56:12.327971Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2abe657495da18dfa0565419b8b59ab56bd59c6fe90f5222e0c68461a2196e99

Aliases

arxiv: 2403.09631 · arxiv_version: 2403.09631v1 · doi: 10.48550/arxiv.2403.09631 · pith_short_12: FK7GK5EV3IMN · pith_short_16: FK7GK5EV3IMN7ICW · pith_short_8: FK7GK5EV

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/FK7GK5EV3IMN7ICWKQM3RNM2WV \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 2abe657495da18dfa0565419b8b59ab56bd59c6fe90f5222e0c68461a2196e99

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b982b6157d5680c892d356911975d8aed838b02e6808a65f0c5469d9ca30a48a",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CL",
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2024-03-14T17:58:41Z",
    "title_canon_sha256": "7ee1dd59c180164676e4c9dca9a0adf39fd0d0976b6cfd38611f584c0bcf439a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2403.09631",
    "kind": "arxiv",
    "version": 1
  }
}