Understanding the Impact of Geometric Foundation Models on Vision-Language-Action Models
Recent work explores new opportunities at the intersection of vision-language-action models (VLAs) and geometric foundation models (GFMs) for 3D reconstruction, such as VGGT. While the resulting geometric VLAs often show improved performance, it remains unclear (i) if modern VLAs already have sufficient geometric understanding to start with, (ii) what is the best architecture to inject geometric understanding into a VLA, and (iii) what is the effect of other design choices that affect geometric VLAs. In this paper we provide a rigorous experimental analysis to shed light on these questions, for a specific choice of VLA (GR00T-N1.5) and GFM (VGGT). Our first contribution is to formalize pr...
| Authors | Yurou Yang, Muyuan Lin, Roberto Martin-Martin et al. |
|---|---|
| Primary category | cs.CV |
| Published | 23 May 2026 |
| Last updated at source | 23 May 2026 |
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