Model Releases
GaussVLA: Geometry-Aware Spatial Reasoning for Vision-Language-Action Model
arXiv:2608.24959v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models encode visual observations as flat 2D patch tokens that carry no intrinsic geometric structure, and augmenting the
arXiv:2608.24959v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models encode visual observations as flat 2D patch tokens that carry no intrinsic geometric structure, and augmenting them with dense monocular depth injects per-pixel scalar values that encode neither surface orientation nor geometric confidence. This leaves the policy with limited structured spatial reasoning for action prediction. We propose GaussVLA, a Mamba-based VLA that incorporates two custom modules: Gaussian Spatial Tokenizer (GST) to lift frozen semantic and depth features into compact 3D Gaussian tokens, pools geometrically salient regions with learned queries, and Depth-Aware Chain-of-Thought (DA-CoT) that performs structured, non-autoregressive geometric reasoning under language and flow-time conditioning. Across both simulation and real-world evaluations, GaussVLA demonstrates strong spatial-manipulation performance while remaining parameter-efficient. On LIBERO, it achieves 93.5% average success and 100.0% success on the Spatial suite with only 200M parameters, improving over SpatialVLA by 19.7% relative average success while remaining significantly more parameter-efficient.
Related
- GeoWeaver: Grounding Visual Tokens with Geometric Evidence before Scene Reasoning
- Reinforcing 3D Understanding in Point-VLMs via Geometric Reward Credit Assignment
- Guide, Think, Act: Interactive Embodied Reasoning in Vision-Language-Action Models
- See What Matters: Differentiable Grid Sample Pruning for Generalizable Vision-Language-Action Model
Source: arXiv cs.CV | 2026-08-27