VEGA: 空間認識型視覚言語行動モデルのための視覚エンコーダ接地整列
VEGA: Visual Encoder Grounding Alignment for Spatially-Aware Vision-Language-Action Models
VLAモデルの視覚エンコーダ出力を、3D空間認識を持つDINOv2-FiT3Dの特徴に直接整列させることで、空間認識能力を向上させる軽量なフレームワークを提案。推論時には追加コストなしで性能が向上する。
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著者: Hao Wang, Xiaobao Wei, Jingyang He, Chengyu Bai, Chun-Kai Fan, Jiajun Cao, Jintao Chen, Ying Li, Shanyu Rong, Ming Lu, Xiaozhu Ju, Jian Tang, Shanghang Zhang
分類: cs.RO
原文アブストラクト
Precise spatial reasoning is fundamental to robotic manipulation, yet the visual backbones of current vision-language-action (VLA) models are predominantly pretrained on 2D image data without explicit 3D geometric supervision, resulting in representations that lack accurate spatial awareness. Existing implicit spatial grounding methods partially address this by aligning VLA features with those of 3D-aware foundation models, but they rely on empirical layer search and perform alignment on LLM-level visual tokens where spatial structure has already been entangled with linguistic semantics, limiting both generalizability and geometric interpretability. We propose VEGA (Visual Encoder Grounding Alignment), a simple yet effective framework that directly aligns the output of the VLA's visual encoder with spatially-aware features from DINOv2-FiT3D, a DINOv2 model fine-tuned with multi-view consistent 3D Gaussian Splatting supervision. By performing alignment at the visual encoder output level, VEGA grounds spatial awareness before any linguistic entanglement occurs, offering a more interpretable and principled alignment target. The alignment is implemented via a lightweight projector trained with a cosine similarity loss alongside the standard action prediction objective, and is discarded at inference time, introducing no additional computational overhead. Extensive experiments on simulation benchmark and real-world manipulation tasks demonstrate that VEGA consistently outperforms existing implicit spatial grounding baselines, establishing a new state-of-the-art among implicit spatial grounding methods for VLA models.
