2 papers
cs.RO2026
GALA: Geometry-Aware Latent Action Modeling for Vision-Language-Action Model Pretraining across Embodiments
Yichen Liu, Puzhen Yuan, Xiang Zhu +2
Learning large-scale vision-language-action (VLA) models from multi-embodiment datasets remains challenging due to heterogeneous action spaces across end effectors. Although latent…
cs.RO2026
HARP-VLA: Human-Robot Aligned Representation Learning for Vision-Language-Action Model
Xiang Zhu, Puzhen Yuan, Yichen Liu +1
Learning generalizable vision-language-action (VLA) models from large-scale human videos is promising but challenging due to cross-embodiment discrepancies in both visual observati…