Efficient Visual Pointing for Embodied AI:Agent-Driven Data Synthesis, Cross-Block Attention, and Iterative Correction

• URL: http://arxiv.org/abs/2606.29850v1
• Date: Mon, 29 Jun 2026 06:39:03 GMT
• Title: Efficient Visual Pointing for Embodied AI:Agent-Driven Data Synthesis, Cross-Block Attention, and Iterative Correction
• Abstract summary: We describe our PointArena 2026 solution, which achieves 77.2% overall accuracy and ranks second on the benchmark.<n>The ap proach targets three failure modes. First, agent-driven syn thesis builds large semantic and anchor-relative candidate pools.<n>Second, a determinis tic steerable-data pipeline creates a verified 10,000-sample main set, plus reserve samples, using masks, templates, and path verification.
• Score: 55.11480729304395
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Visual pointing maps a language instruction to pixel co ordinates, a core skill for embodied AI. We describe our PointArena 2026 solution, which achieves 77.2% overall accuracy and ranks second on the benchmark. The ap proach targets three failure modes. First, agent-driven syn thesis builds large semantic and anchor-relative candidate pools; the server inventory contains 55,372 processed out puts, 53,772 de-duplicated sample IDs, and 37,574 train able completed or accepted rows. Second, a determinis tic steerable-data pipeline creates a verified 10,000-sample main set, plus reserve samples, using masks, templates, and path verification. Third, two model-side modules address complementary errors: AttnRes adds gated cross-block at tention for steerability, while ABC correction encodes per turbed coordinates with visual features for general coordi nate grounding. Category-aware routing combines comple mentary specialists; local validation used to select experts records 93.9% Affordance, 82.6% Spatial Relation, 78.2% Reasoning, 70.4% Counting, and 63.0% Steerability.

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