The Lie We Tell: Correcting the Euclidean Fallacy in Vision Language Action Policies via Score Matching on Tangent Space

Bing-Cheng Chuang, I-Hsuan Chu, Bor-Jiun Lin +3

Diffusion-based Vision-Language-Action policies achieve remarkable success in robotic manipulation, yet commit a fundamental geometric error we term the $\textbf{Euclidean Fallacy}…