3D HAMSTER: Bridging Planning and Control in Hierarchical Vision Language Action Models through 3D Trajectory Guidance

arXiv:2606.31329v1 Announce Type: new Abstract: 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 way...