HiWE: Hierarchical World Knowledge Model with Visual Keypoint Enhancement for Zero-Shot 3D Path Planning

arXiv:2609.39323 · cs.RO, cs.AI · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Ablation — 13× in this paper · explained in 1 episode
• Grounding — 7× in this paper · explained in 3 episodes
• Affordance — 5× in this paper · explained in 1 episode
• Ablation study — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Visual Grounding — 3× in this paper · explained in 2 episodes
• Action Primitives — 1× in this paper · explained in 1 episode
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• GeneralVLA: Generalizable Vision-Language-Action Models with Knowledge-Guided Trajectory Planning
• Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution

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