Author

Jianyu Chen

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Preprint Sep 2026

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

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...

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