Robot actions without a learned action module: project the tool frame into the wrist camera and let a pretrained VLM emit executable motion
A pretrained vision-language model can act without robot-action pretraining once a tool-center-point action frame is projected into the wrist-camera view and actions are emitted through its native text interface, reaching 79.4% average zero-shot success on simple manipulation tasks, close to VLA models fine-tuned with about 30 demonstrations.