{"id":"https://openalex.org/W7163539710","doi":"https://doi.org/10.48550/arxiv.2606.04436","title":"3DThinkVLA: Endowing Vision-Language-Action Models with Latent 3D Priors via 3D-Thinking-Guided Co-training","display_name":"3DThinkVLA: Endowing Vision-Language-Action Models with Latent 3D Priors via 3D-Thinking-Guided Co-training","publication_year":2026,"publication_date":"2026-06-03","ids":{"openalex":"https://openalex.org/W7163539710","doi":"https://doi.org/10.48550/arxiv.2606.04436"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.04436","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04436","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.04436","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137829895","display_name":"Jiaxin Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Jiaxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132593483","display_name":"Xidong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xidong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137882470","display_name":"Fucai Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Fucai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137821386","display_name":"Zhe Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137838084","display_name":"Siyu Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Siyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137881757","display_name":"Weihao Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Weihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9629999995231628,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9629999995231628,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.004900000058114529,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.0031999999191612005,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.6477000117301941},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6195999979972839},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.580299973487854},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5450000166893005},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.525600016117096},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4366999864578247},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.42910000681877136},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.4242999851703644},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.41499999165534973}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876000165939331},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.6477000117301941},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6195999979972839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6176999807357788},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.580299973487854},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5450000166893005},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.525600016117096},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4366999864578247},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.42910000681877136},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.4242999851703644},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.3865000009536743},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3450999855995178},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3122999966144562},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.3059000074863434},{"id":"https://openalex.org/C97364631","wikidata":"https://www.wikidata.org/wiki/Q484284","display_name":"Deductive reasoning","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28850001096725464},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C159032336","wikidata":"https://www.wikidata.org/wiki/Q2488768","display_name":"Non-monotonic logic","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C83725634","wikidata":"https://www.wikidata.org/wiki/Q7268699","display_name":"Qualitative reasoning","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.04436","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04436","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.04436","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04436","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,64,75,105,172],"3D-thinking-guided":[3],"co-training":[4],"framework":[5],"that":[6,24,35],"enables":[7],"vision-language-action":[8],"(VLA)":[9],"models":[10],"to":[11,86,123,153,189,202],"perform":[12,203],"3D":[13,25,29,66,76,95,111,205,209,227],"spatial":[14,30,126,146,187],"reasoning":[15,31,96,102,107,151,166],"implicitly":[16],"during":[17],"action":[18,142,155,175,191],"prediction.":[19],"Our":[20],"core":[21],"insight":[22],"is":[23,116],"geometry":[26,67],"perception":[27,68],"and":[28,39,141,165,212,250],"are":[32,168],"distinct":[33],"capabilities":[34],"can":[36],"be":[37],"disentangled":[38,163],"injected":[40],"at":[41],"different":[42],"feature":[43],"hierarchies.":[44],"During":[45,110,128],"training,":[46,130],"three":[47],"tightly":[48],"coupled":[49],"components":[50],"work":[51],"in":[52],"concert":[53],"primarily":[54],"within":[55],"the":[56,87,100,119,139,182,208,213,240],"latent":[57,65],"space:":[58],"(1)":[59],"To":[60],"gain":[61],"geometric":[62,81,164],"priors,":[63],"module":[69,98],"aligns":[70],"intermediate":[71],"visual":[72],"features":[73,167],"with":[74],"foundation":[77,210],"model,":[78],"acquiring":[79],"low-level":[80],"cues":[82],"without":[83,157,226],"architectural":[84],"modifications":[85],"VLM":[88,112],"backbone.":[89],"(2)":[90],"Complementing":[91],"this,":[92],"an":[93,134],"online":[94],"distillation":[97],"mitigates":[99],"prompt-induced":[101],"gap":[103],"via":[104],"shared":[106],"anchor":[108,115],"token.":[109],"co-training,":[113],"this":[114],"emitted":[117],"as":[118,133,185],"first":[120],"output":[121],"token":[122,136],"robustly":[124],"encode":[125],"priors.":[127],"VLA":[129],"it":[131,220],"serves":[132],"input":[135],"inserted":[137],"between":[138],"task":[140],"instructions,":[143],"transferring":[144],"high-level":[145],"thinking":[147],"from":[148],"explicit":[149,232],"teacher":[150,214],"prompts":[152,156],"student":[154],"chain-of-thought":[158],"text":[159,233],"generation.":[160],"(3)":[161],"These":[162],"then":[169],"united":[170],"by":[171],"spatially":[173],"augmented":[174],"integration,":[176],"which":[177],"jointly":[178],"injects":[179],"them":[180],"into":[181],"action-query":[183],"tokens":[184],"hierarchical":[186],"conditions":[188],"prevent":[190],"shortcuts.":[192],"At":[193],"deployment,":[194],"our":[195],"method":[196],"retains":[197],"only":[198],"its":[199],"lightweight":[200],"adapters":[201],"implicit":[204],"reasoning,":[206],"discarding":[207],"model":[211],"branch":[215],"used":[216],"for":[217],"supervision.":[218],"Consequently,":[219],"operates":[221],"purely":[222],"on":[223,246],"2D":[224],"images":[225],"sensors,":[228],"external":[229],"models,":[230],"or":[231],"generation":[234],"while":[235],"preventing":[236],"catastrophic":[237],"forgetting":[238],"of":[239],"pretrained":[241],"VLM,":[242],"achieving":[243],"state-of-the-art":[244],"performance":[245],"LIBERO,":[247],"LIBERO-PLUS,":[248],"SimplerEnv,":[249],"real-world":[251],"manipulation":[252],"tasks.":[253]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-05T00:00:00"}