RoboSignal Daily · 2026-10-13 · Tuesday
ROBOSIGNAL
ForeAct3D: Policy-Grounded Future World Modeling for VLA Policies
This paper presents ForeAct3, a framework for policy-grounded future world modeling within VLA policies. It uses learnable geometric queries to decode depth, semantic segmentation, and camera pose from policy representations, enabling accurate prediction of future 3D scene states. The method improves manipulation performance through semantic 3D supervision, physical consistency, and action conditioning, achieving 98.3% average success on LIBERO and 37.8% success in real-world tasks.
Research
arXiv Robotics — research abstractsForeAct3D: Policy-Grounded Future World Modeling for VLA Policies
This paper presents ForeAct3, a framework for policy-grounded future world modeling within VLA policies. It uses learnable geometric queries to decode depth, semantic segmentation, and camera pose from policy representations, enabling accurate prediction of future 3D scene states. The method improves manipulation performance through semantic 3D supervision, physical consistency, and action conditioning, achieving 98.3% average success on LIBERO and 37.8% success in real-world tasks.