VGM-VS: Rethinking Visual Geometry Model for High-Precision Visual Servoing

arXiv:2609.28312 · cs.RO, cs.CV · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Accuracy — 12× in this paper · explained in 1 episode
• Fine-Tuning — 9× in this paper · explained in 5 episodes
• Alignment — 8× in this paper · explained in 1 episode
• Calibration — 8× in this paper · explained in 7 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 4× in this paper
• Robustness — 4× in this paper · explained in 5 episodes
• Latent Space — 3× in this paper · explained in 7 episodes
• APEX — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Ablation — 1× in this paper · explained in 1 episode
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Singular Value Decomposition (SVD) — 1× in this paper · explained in 2 episodes
• Tokenization — 1× in this paper · explained in 2 episodes

Sources

• FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
• ViT-VS: On the Applicability of Pretrained Vision Transformer Features for Generalizable Visual Servoing
• ART-VS: Adaptive Resolution Tiling for Vision Transformer Visual Servoing
• VGGT-$\Omega$
• DFBVS: Deep Feature-Based Visual Servo
• CNSv2: Probabilistic Correspondence Encoded Neural Image Servo
• VGGT-DP: Generalizable Robot Control via Vision Foundation Models
• GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulation
• OmniVGGT: Omni-Modality Driven Visual Geometry Grounded Transformer
• Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer
• DINOv3

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