SERF conditions VLA policies on online-updated neural point maps of environment and robot to improve long-horizon mobile manipulation on BEHAVIOR-1K.
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2 Pith papers cite this work. Polarity classification is still indexing.
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2026 2verdicts
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The paper quantifies the geometric gap in current VLAs via linear probing and compares three architectures for injecting geometry from GFMs while analyzing impacts of data, cameras, and reconstruction quality.
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SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
SERF conditions VLA policies on online-updated neural point maps of environment and robot to improve long-horizon mobile manipulation on BEHAVIOR-1K.
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Understanding the Impact of Geometric Foundation Models on Vision-Language-Action Models
The paper quantifies the geometric gap in current VLAs via linear probing and compares three architectures for injecting geometry from GFMs while analyzing impacts of data, cameras, and reconstruction quality.