{"id":"https://openalex.org/W7165792067","doi":"https://doi.org/10.48550/arxiv.2606.24472","title":"G$^3$VLA: Geometric inductive bias for Vision-Language-Action Models","display_name":"G$^3$VLA: Geometric inductive bias for Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-06-23","ids":{"openalex":"https://openalex.org/W7165792067","doi":"https://doi.org/10.48550/arxiv.2606.24472"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.24472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.24472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.24472","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139263499","display_name":"Yue Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139231063","display_name":"Yongzhe Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yongzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139293968","display_name":"Artur Habuda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Habuda, Artur","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139250526","display_name":"Khuyen Pham","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pham, Khuyen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021436608","display_name":"Y C Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Yanheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124124270","display_name":"Tran Nguyen Le","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, Tran Nguyen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128666015","display_name":"Fares Abu-Dakka","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abu-Dakka, Fares","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139278813","display_name":"Li Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4528999924659729,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4528999924659729,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.24120000004768372,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.06499999761581421,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intrinsics","display_name":"Intrinsics","score":0.765999972820282},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5389000177383423},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.498199999332428},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4902999997138977},{"id":"https://openalex.org/keywords/geometric-data-analysis","display_name":"Geometric data analysis","score":0.4641999900341034},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43389999866485596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4077000021934509},{"id":"https://openalex.org/keywords/projective-geometry","display_name":"Projective geometry","score":0.4059000015258789},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4058000147342682},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.39309999346733093}],"concepts":[{"id":"https://openalex.org/C2908650547","wikidata":"https://www.wikidata.org/wiki/Q20999234","display_name":"Intrinsics","level":2,"score":0.765999972820282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6470999717712402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6033999919891357},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5519999861717224},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5389000177383423},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.498199999332428},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4902999997138977},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.4641999900341034},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43389999866485596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4077000021934509},{"id":"https://openalex.org/C185362025","wikidata":"https://www.wikidata.org/wiki/Q177409","display_name":"Projective geometry","level":3,"score":0.4059000015258789},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4058000147342682},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.39309999346733093},{"id":"https://openalex.org/C32990609","wikidata":"https://www.wikidata.org/wiki/Q306542","display_name":"Transformation geometry","level":2,"score":0.3903999924659729},{"id":"https://openalex.org/C197352929","wikidata":"https://www.wikidata.org/wiki/Q1074074","display_name":"Inductive bias","level":4,"score":0.3785000145435333},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.36320000886917114},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.3497999906539917},{"id":"https://openalex.org/C207363949","wikidata":"https://www.wikidata.org/wiki/Q462915","display_name":"Visual space","level":3,"score":0.32690000534057617},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28439998626708984},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C56435381","wikidata":"https://www.wikidata.org/wiki/Q1196371","display_name":"Geometric transformation","level":3,"score":0.27309998869895935},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2669999897480011},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.24472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.24472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.24472","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.24472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.7992458343505859,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"models":[2],"have":[3,168],"made":[4],"rapid":[5],"progress":[6],"in":[7,25,43],"generalist":[8],"robot":[9],"manipulation":[10],"by":[11,50],"harnessing":[12],"semantic":[13],"knowledge":[14],"from":[15,104,111],"pretrained":[16,77],"vision-language":[17],"backbones,":[18],"but":[19],"their":[20],"visual":[21],"tokens":[22,167],"remain":[23],"grounded":[24],"2D":[26],"image":[27],"coordinates":[28],"rather":[29],"than":[30],"the":[31,35,72,131,140,172],"calibrated":[32,69],"geometry":[33],"of":[34,75],"robot's":[36],"cameras":[37],"--":[38],"a":[39,63,76],"mismatch":[40],"especially":[41],"pronounced":[42],"multi-camera":[44],"setups,":[45],"where":[46],"views":[47],"are":[48],"coupled":[49],"known":[51],"intrinsics":[52],"and":[53,95,136,145,153],"extrinsics":[54],"yet":[55],"processed":[56],"as":[57],"independent":[58],"images.":[59],"We":[60,148],"propose":[61],"G$^3$VLA,":[62],"camera-aware":[64],"geometric":[65,160],"module":[66],"that":[67,159],"injects":[68],"structure":[70],"into":[71],"visual-token":[73],"stream":[74],"VLA":[78],"without":[79],"altering":[80],"its":[81],"action":[82,173],"space":[83],"or":[84,110,120],"imitation":[85],"objective,":[86],"combining":[87],"intrinsic-conditioned":[88],"ray":[89],"embeddings,":[90],"projective":[91],"positional":[92],"encoding":[93],"(PRoPE),":[94],"bidirectional":[96],"cross-view":[97],"fusion.":[98],"Geometric":[99],"supervision":[100],"is":[101,162,179],"provided":[102],"either":[103],"ground-truth":[105],"point":[106],"maps":[107],"when":[108,165],"available,":[109],"confidence-gated":[112],"$\u03c0^3$X":[113],"teacher":[114],"predictions,":[115],"requiring":[116],"no":[117],"depth":[118],"sensors":[119],"manual":[121],"annotations.":[122],"Instantiated":[123],"on":[124,143,151],"$\u03c0_0$,":[125],"G$^3$VLA":[126],"yields":[127],"consistent":[128],"gains":[129],"across":[130],"LIBERO":[132],"suites,":[133],"RoboCasa24,":[134],"RoboTwin2.0,":[135],"real-robot":[137],"settings,":[138],"with":[139,156],"largest":[141],"improvements":[142],"spatially":[144],"object-sensitive":[146],"tasks.":[147],"further":[149],"validate":[150],"$\u03c0_{0.5}$":[152],"GR00T":[154],"1.5,":[155],"results":[157],"suggesting":[158],"transfer":[161],"most":[163],"effective":[164],"geometry-aware":[166],"direct":[169],"access":[170],"to":[171],"generation":[174],"pathway.":[175],"Our":[176],"project":[177],"page":[178],"at":[180],"https://sites.google.com/view/g3vla":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-25T00:00:00"}