AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies

Dai, Jayjun Lee, Yichi Zhang, Martin Ziqiao Ma, Jed Yang, Amir Zadeh, Chuan Li, Nima Fazeli, Joyce Chai

AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies: 11 upvotes on Hugging Face Daily Papers, #19 of 35 papers on 2025-08-13. Day-by-day upvote history.

In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. AimBot overlays shooting lines and scope reticles onto multi-view RGB images, offering auxiliary visual guidance that encodes the end-effector's state. The overlays are computed from depth images, camera extrinsics, and the current end-effector pose, explicitly conveying spatial relationships between the gripper and objects in the scene. AimBot incurs minimal computational overhead (less than 1 ms) and requires no changes to model architectures, as it simply replaces original RGB images with augmented counterparts. Despite its simplicity, our results show that AimBot consistently improves the performance of various visuomotor policies in both simulation and real-world settings, highlighting the benefits of spatially grounded visual feedback.

Paper page on Hugging Face · arXiv

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