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HABILIS Brain 0: Geometry-Change Supervision for Vision-Language-Action and Residual Flow Recovery

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Vision-language-action policies benefit from geometric supervision, but current-frame geometry alone does not explicitly describe the changes associated with manipulation. This design is motivated by the goal of learning an embodiment-agnostic visual interface that can be pretrained across robot and egocentric video before robot-specific action alignment. We introduce Geometry-Change VLA (GC-VLA), which learns to predict multiview future-current geometry-change tokens from current observations. Offline frame pairs define a nominal 0.5-second prediction horizon; future observations are used onl

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