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Yi-Chen Liu

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Preprint Sep 2026

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

GALA combines visual latent actions that capture scene-level dynamics with geometric latent actions that capture shared fine-grained end-effector articulation, providing effective supervision for VLA pretraining from multi-embodiment data, including action-free ego-centric human videos.

Yi-Chen Liu, Pu-Zhen Yuan, Xiang-Pei Zhu et al. · 0 citations