3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints
Predicting 3D consistent waypoints (3DWay) from multi-view images as generating multi-view consistent 2D waypoints followed by geometric triangulation enables explicit 3D motion specification while preserving the strong priors of pretrained VLMs.
Zi-Qin Huang, Ying-Yue Li, Chenyangguang Zhang et al.
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