ExStereo: Lifting 2D Vision-Language-Action Models to 3D with Explicit Stereo Representations
Three-dimensional perception is critical for robotic manipulation, particularly for high-precision tasks, as recovering metric depth and precise 3D object positions from monocular RGB observations is inherently ill-posed. However, many Vision-Language-Action (VLA) models rely solely on RGB observations for perception. Leveraging recent advances in foundation models for stereo matching, we introduce ExStereo, a stereo module that augments pre-trained 2D VLAs with 3D perception. ExStereo reconstructs scene geometry from stereo image pairs and renders multi-view observations as an explicit stereo representation for stereo feature extraction. The action tokens from the action expert selective...
| Authors | I-Chun Arthur Liu, Jason Chen, Gaurav S. Sukhatme et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 October 2026 |
| Last updated at source | 3 October 2026 |
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