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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.18778 |
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| _version_ | 1866914052216717312 |
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| author | Ge, Shijia Zhang, Yinxin Xie, Shuzhao Zhang, Weixiang Zhou, Mingcai Wang, Zhi |
| author_facet | Ge, Shijia Zhang, Yinxin Xie, Shuzhao Zhang, Weixiang Zhou, Mingcai Wang, Zhi |
| contents | Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting spatial understanding and generalization. Inspired by biological vision systems, which rely on both visual and proprioceptive cues for robust control, we propose VGGT-DP, a visuomotor policy framework that integrates geometric priors from a pretrained 3D perception model with proprioceptive feedback. We adopt the Visual Geometry Grounded Transformer (VGGT) as the visual encoder and introduce a proprioception-guided visual learning strategy to align perception with internal robot states, improving spatial grounding and closed-loop control. To reduce inference latency, we design a frame-wise token reuse mechanism that compacts multi-view tokens into an efficient spatial representation. We further apply random token pruning to enhance policy robustness and reduce overfitting. Experiments on challenging MetaWorld tasks show that VGGT-DP significantly outperforms strong baselines such as DP and DP3, particularly in precision-critical and long-horizon scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_18778 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | VGGT-DP: Generalizable Robot Control via Vision Foundation Models Ge, Shijia Zhang, Yinxin Xie, Shuzhao Zhang, Weixiang Zhou, Mingcai Wang, Zhi Robotics Artificial Intelligence Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting spatial understanding and generalization. Inspired by biological vision systems, which rely on both visual and proprioceptive cues for robust control, we propose VGGT-DP, a visuomotor policy framework that integrates geometric priors from a pretrained 3D perception model with proprioceptive feedback. We adopt the Visual Geometry Grounded Transformer (VGGT) as the visual encoder and introduce a proprioception-guided visual learning strategy to align perception with internal robot states, improving spatial grounding and closed-loop control. To reduce inference latency, we design a frame-wise token reuse mechanism that compacts multi-view tokens into an efficient spatial representation. We further apply random token pruning to enhance policy robustness and reduce overfitting. Experiments on challenging MetaWorld tasks show that VGGT-DP significantly outperforms strong baselines such as DP and DP3, particularly in precision-critical and long-horizon scenarios. |
| title | VGGT-DP: Generalizable Robot Control via Vision Foundation Models |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2509.18778 |