Pith Number

pith:YF43JYTF

pith:2026:YF43JYTFFZ5PSPDJQ6JOEBSPU3

not attested not anchored not stored refs pending

Any3D-VLA: Enhancing VLA Robustness via Diverse Point Clouds

Hengshuang Zhao, He Wang, Mi Yan, Shengliang Deng, Xianzhe Fan, Xiaoyang Wu, Yujia Zhang, Yuxiang Lu, Zhizheng Zhang, Zhuoling Li

Any3D-VLA improves VLA models by unifying simulator sensor and estimated point clouds into domain-agnostic 3D representations fused with 2D inputs.

arxiv:2602.00807 v2 · 2026-01-31 · cs.CV · cs.RO

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\pithnumber{YF43JYTFFZ5PSPDJQ6JOEBSPU3}

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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

Any3D-VLA unifies the simulator, sensor, and model-estimated point clouds within a training pipeline, constructs diverse inputs, and learns domain-agnostic 3D representations that are fused with the corresponding 2D representations, improving performance and mitigating the domain gap.

C2weakest assumption

That explicitly lifting visual input into point clouds yields representations that better complement their corresponding 2D representations and that unifying across simulator, sensor, and estimated sources can close the domain gap without introducing new biases or performance drops.

C3one line summary

Any3D-VLA unifies simulator, sensor, and estimated point clouds into domain-agnostic 3D features fused with 2D inputs to improve VLA robustness and reduce domain gaps.

Formal links

2 machine-checked theorem links

Cited by

3 papers in Pith

FASTER: Rethinking Real-Time Flow VLAs

GaussianDream: A Feed-Forward 3D Gaussian World Model for Robotic Manipulation

FASTER: Rethinking Real-Time Flow VLAs

Receipt and verification

First computed	2026-05-17T23:39:00.120954Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c179b4e2652e7af93c698792e2064fa6ffc50d628432cf6386007910d9bb08fc

Aliases

arxiv: 2602.00807 · arxiv_version: 2602.00807v2 · doi: 10.48550/arxiv.2602.00807 · pith_short_12: YF43JYTFFZ5P · pith_short_16: YF43JYTFFZ5PSPDJ · pith_short_8: YF43JYTF

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/YF43JYTFFZ5PSPDJQ6JOEBSPU3 \
  | 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: c179b4e2652e7af93c698792e2064fa6ffc50d628432cf6386007910d9bb08fc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "503843f2c1d8c4bbce5ebae2a3b5080d6b636f76e7a0cd517fa84114dd7acec7",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-01-31T16:34:52Z",
    "title_canon_sha256": "07289c26013c377c2ef760c36d36984661f5ae6cfb6ecec8993110049672044e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.00807",
    "kind": "arxiv",
    "version": 2
  }
}