# KAIST proposes robot-centric pointmap; π0.5 improves 7.6 points on RoboCasa

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-10-31T16:00:00.000Z
- RoboHot: https://robohot.news/en/items/fx6qq4mmh60lsjh62xp07dgme
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752733&idx=2&sn=c1d8155cdff52567d2dcb242ea465cc3&chksm=fa15fca29b8299fd01952d3ad7c1756ba4dcce0a6f23b204a48f4e0951c46071e5a7bd8d1885&scene=126&sessionid=1793529027#rd

## Summary

KAIST AI and Holiday Robotics propose a robot-centric pointmap that transforms RGB-D observations into the robot coordinate frame while preserving the H×W grid, and adds it element-wise to RGB tokens to inject it into a pretrained VLA.