robot learning

Grounded Action Model: 3D Grounding as a Foundation for Roboticsarxiv.org

The Grounded Action Model (GAM) adds explicit 3D metric grounding to robot foundation models via a shared object‑centric representation, improving robustness to scene changes. Experiments on RoboTwin 2.0, LIBERO‑PRO, and real robots show state‑of‑the‑art success rates, especially under visual shift and long‑horizon tasks.