RawVLA: Embodied Neural Image Signal Processor For Robotic Manipulation

Vision-language-action (VLA) models typically operate on RGB images produced by a fixed camera image signal processor (ISP), leaving the imaging pipeline outside the learning and evaluation loop. We systematically examine the consequences of this overlooked design choice across five fundamental ISP dimensions: gain, sensor noise, chromatic response, tonal response, and bit depth.

Aus dem Abstract. Unsere Zusammenfassung folgt.