Summary of 3d-vla: a 3d Vision-language-action Generative World Model, by Haoyu Zhen and Xiaowen Qiu and Peihao Chen and Jincheng Yang and Xin Yan and Yilun Du and Yining Hong and Chuang Gan
3D-VLA: A 3D Vision-Language-Action Generative World Model
by Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, Chuang Gan
First submitted to arxiv on: 14 Mar 2024
Categories
- Main: Computer Vision and Pattern Recognition (cs.CV)
- Secondary: Artificial Intelligence (cs.AI); Computation and Language (cs.CL); Robotics (cs.RO)
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| Summary difficulty | Written by | Summary |
|---|---|---|
| High | Paper authors | High Difficulty Summary Read the original abstract here |
| Medium | GrooveSquid.com (original content) | Medium Difficulty Summary The paper proposes a new approach to vision-language-action (VLA) models, called 3D-VLA, which integrates 3D perception with reasoning and action. Unlike existing VLA models, which rely on 2D inputs and neglect the dynamics of the world, 3D-VLA uses a generative world model to predict future scenarios and plan actions accordingly. The model is built on top of a 3D-based large language model (LLM) and incorporates interaction tokens to engage with the embodied environment. To improve generation abilities, the paper introduces a series of embodied diffusion models aligned into the LLM. The authors curate a large-scale 3D embodied instruction dataset from existing robotics datasets and demonstrate significant improvements in reasoning, multimodal generation, and planning capabilities on held-in datasets. This work has potential applications in real-world scenarios. |
| Low | GrooveSquid.com (original content) | Low Difficulty Summary Imagine trying to predict what will happen if you were playing with blocks or building a sandcastle. Most AI systems are like that – they can only understand flat pictures or text messages. But humans have a special ability to imagine and plan for future actions, like building a castle step by step. This paper proposes a new way for AI to do the same thing, using 3D images and understanding how objects move in space. The system uses a combination of language processing and physical reasoning to predict what will happen if you perform certain actions. The authors created a large database of instructions that show AI how to follow these steps and improve its imagination and planning abilities. |
Keywords
» Artificial intelligence » Large language model
