Author

Zongbo Liu

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Preprint Jul 2026

SAM3D-Guided Object-Centric Representation Alignment for Vision-Language-Action Models

An object-centric 3D representation alignment framework built upon $\pi_0$, using SAM3D as a frozen 3D teacher to provide target-object 3D priors during training, which enables the policy to internalize target-object 3D information while preserving the original RGB-language-to-action inference pipeline without requiring depth, point clouds, masks, SAM3D, or additional 3D modules at test time.

Zongbo Liu, Shan Jie, Xiaoquan Sun et al. · 0 citations