InfiNoVA: Infinite Novel View Augmentation for Viewpoint Invariant Robot Policies

arXiv:2609.27734 · cs.RO, cs.AI · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://infi-nova.github.io

Terminology

• Generalization — 9× in this paper · explained in 13 episodes
• Calibration — 8× in this paper · explained in 7 episodes
• Consistency — 8× in this paper · explained in 3 episodes
• Fidelity — 8× in this paper · explained in 2 episodes
• Gaussian Splatting — 8× in this paper · explained in 4 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Hallucination — 5× in this paper · explained in 3 episodes
• Temporal consistency — 4× in this paper · explained in 2 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Data Augmentation — 3× in this paper · explained in 7 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 2× in this paper
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
• From Fixed to Free Cameras: Calibration-Free View-Robust Vision-Language-Action Model
• AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models
• InstantSplat: Sparse-view Gaussian Splatting in Seconds
• Octo: An Open-Source Generalist Robot Policy
• SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model
• GeoVLA: Empowering 3D Representations in Vision-Language-Action Models
• GeoAware-VLA: Implicit Geometry Aware Vision-Language-Action Model
• Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation
• RoboAug: One Annotation to Hundreds of Scenes via Region-Contrastive Data Augmentation for Robotic Manipulation

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