3D HAMSTER: Bridging Planning and Control in Hierarchical Vision Language Action Models through 3D Trajectory Guidance
Hierarchical Vision-Language-Action (VLA) models decouple high-level planning from low-level control to improve generalization in robot manipulation. Recent work in this paradigm uses 2D end-effector trajectories predicted by a Vision-Language Model (VLM) as explicit guidance for a downstream policy. However, state-of-the-art low-level policies operate in 3D metric space on point clouds, and feeding them 2D guidance that lacks depth forces each waypoint to be assigned the depth of whatever scene surface lies beneath it, producing geometrically distorted trajectories. We propose 3D HAMSTER, a hierarchical framework that closes this gap by having the planner directly output metrically relia...
| Authors | Dongyoon Hwang, Byungkun Lee, Dongjin Kim et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 June 2026 |
| Last updated at source | 1 July 2026 |
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