Author

Nikolaos Gkanatsios

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Preprint Sep 2026

GeomVLA: Unifying Scene, Motion, and Action in 3D

We present GeomVLA, a Vision-Language-Action (VLA) model that unifies perception, latent scene motion prediction, and action generation within a shared robot-centric 3D coordinate frame. Our approach lifts pretrained VLM features into spatially grounded 3D scene tokens using depth and camera calibration, while retainin...

Zi-Yin Xiong, Nikolaos Gkanatsios, Moritz Reuss et al. · 0 citations