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GALA: Geometry-Aware Latent Action Modeling for Vision-Language-Action Model Pretraining across Embodiments

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Learning large-scale vision-language-action (VLA) models from multi-embodiment datasets remains challenging due to heterogeneous action spaces across end effectors. Although latent action models (LAMs) can learn embodiment-agnostic action representations from diverse video data, existing image-based LAMs often fail to capture fine-grained end-effector articulation, particularly finger-level geometric changes in human and dexterous robot hands. To address this limitation, we propose GALA, a Geometry-Aware Latent-Action modeling framework that augments image-based latent actions with 3D end-effe

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