PointAction: 3D Points as Universal Action Representations for Robot Control
Video-Action Models (VAMs) leverage the broad visual dynamics captured by pre-trained video diffusion models, offering a promising path toward generalizable robot manipulation. However, RGB-only video rollouts are not directly actionable: they leave metric 3D motion, contact geometry, and fine-grained spatial constraints under-specified, making action grounding ambiguous. Meanwhile, scaling action supervision across diverse tasks and embodiments remains costly. We present PointAction, a framework that bridges video predictions to robot actions through explicit point-based 4D modeling. PointAction fine-tunes a foundation video generation model to jointly predict future RGB frames and dynam...
| Authors | Mutian Tong, Han Jiang, Qiao Feng et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 June 2026 |
| Last updated at source | 2 June 2026 |
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