CodeActionBench is introduced, a benchmark of 25 manipulation tasks that evaluates this capability through agentic Code-as-Policy and provides a controlled testbed for measuring how general-purpose models translate their capabilities into manipulation behavior and for examining typical failure scenarios in that process...
Yiheng Lyu, Xueying Jiang, Wen-Hao Li et al.· 0 citations
Proprioception is fundamental to robotic manipulation, yet standard fusion methods often treat it as an isolated vector lacking explicit alignment with visual tokens. Without a direct correspondence between 3D kinematics and 2D feature maps, manipulation policies struggle to ground the robot's state within the scene, f...
Guoyang Zhao, Quanhao Qian, Gongjie Zhang et al.· 0 citations
Despite rapid progress, most existing vision-language models (VLMs) built from 2D visual inputs often struggle when handling various 3D tasks that require fine-grained spatial understanding and reasoning. To bridge this gap, we present VLM-IE3D, a unified framework that enhances the 3D spatial awareness of VLMs by equi...