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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Ming-Hao Shi

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Open access Aug 2026

SIRModel: Learning Spatial Intermediate Representation to Parameter-Efficiently Fine-Tune a Vision Language Model for Manipulation

Long-horizon robotic manipulation requires a policy to bridge task-level semantic reasoning with metric three-dimensional interaction geometry. Existing vision–language–action policies usually acquire geometry implicitly from visual tokens or introduce deterministic intermediate variables only in the image plane, which...

Li Lin, Ming-Hao Shi, Teng-Long Wang · 0 citations

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