Abstract
Vision-Language-Action (VLA) models have demonstrated remarkable generalization in robotic manipulation via large-scale multimodal pretraining. However, VLA models are mainly trained on 2D-centric observations, which inherently constrains their capacity for precise spatial manipulation. Previous methods enhance 3D awareness by introducing implicit spatial priors, but still lack explicit geometry guidance. In this paper, we propose Bridge3D that integrates both implicit and explicit 3D geometry guidance into pre-trained 2D VLA models, enabling them to ''see'' and ''act'' in 3D. Bridge3D introduces two strategies: 1) Implicit Fusion, which enriches visual tokens with features from 3D foundation models to improve ''seeing'' in 3D; 2) Explicit Conditioning, which integrates action denoising with an explicit 3D semantic field to achieve ''acting'' in 3D. Furthermore, we utilize the proposed layer-wise linear probing to improve learning efficiency. Experiments show that Bridge3D achieves superior performance against state-of-the-art methods. On the RoboTwin 2.0 benchmark, Bridge3D exceeds $\pi_0$ by 14.0 percentage points, while in real-world experiments, it outperforms Spatial Forcing by 11.7 percentage points. These results demonstrate Bridge3D's strong capabilities in high-precision and spatial-sensitive manipulation tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.24525
