AI RESEARCH
OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
arXiv CS.AI
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ArXi:2605.25829v1 Announce Type: cross Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry.