MANIPULATION
Lift3D-VLA：将VLA模型提升至3D几何与动力学感知的操控
Jiaming Liu, Qingpo Wuwu, Nuowei Han, Hao Chen, Zhuoyang Liu, Fan Fei, Yueru Jia, Chenyang Gu, Yandong Guo, Boxin Shi, Shanghang Zhang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
该论文提出Lift3D-VLA框架，通过显式3D点云推理和几何中心掩码自编码，解决了现有VLA模型在动态环境中3D几何与时间动作联合建模的不足。该方法在保留2D预训练位置编码的同时实现点云编码，并利用自监督学习同时重建当前点云和预测未来点云。
关键词
3D point cloudvision-language-actionrobotic manipulationself-supervised learningspatial reasoning
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