GS-VLA: Plug-and-Play Viewpoint Canonicalization for Frozen VLA Policies via Gaussian Splatting
This paper proposes a lightweight, plug-and-play framework that improves robustness to viewpoint shifts in Vision-Language-Action (VLA) policies without policy retraining. To our knowledge, this is the first approach to directly leverage 3D Gaussian-based novel-view synthesis for observation-space adaptation in VLA policies. Current VLA performance relies on the implicit assumption that training…
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