Spatial Traces: Enhancing VLA Models with Spatial-Temporal Understanding
Bibliographic record
Abstract
Vision-Language-Action models have demonstrated remarkable capabilities in predicting agent movements within virtual environments and real-world scenarios based on visual observations and textual instructions. Although recent research has focused on enhancing spatial and temporal understanding independently, this paper presents a novel approach that integrates both aspects through visual prompting. We introduce a method that projects visual traces of key points from observations onto depth maps, enabling models to capture both spatial and temporal information simultaneously. The experiments in SimplerEnv show that the mean number of tasks successfully solved increased for 4% compared to SpatialVLA and 19% compared to TraceVLA. Furthermore, we show that this enhancement can be achieved with minimal training data, making it particularly valuable for real-world applications where data collection is challenging. The project page is available at https://ampiromax.github.io/ST-VLA .
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.005 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.002 | 0.003 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.004 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".