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GEM-VLA: Geometry-Enhanced VLA Control

Updated 5 July 2026
  • GEM-VLA is a vision-language-action system that integrates generative depth supervision into a VLM backbone, enhancing spatial reasoning and control for robotic tasks.
  • It employs a diffusion Transformer-based action expert combined with a geometry-conditioned backbone to generate continuous control policies from multimodal observations.
  • The approach leverages a progressive three-stage optimization and a depth-generative loss, yielding significant performance gains on benchmarks like LIBERO and real-world UR5 tasks.

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25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 OR all:\2525search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25 25search_query25start25

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