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arXiv · 2512.16811

GeoPredict: Leveraging Predictive Kinematics and 3D Gaussian Geometry for Precise VLA Manipulation

Jingjing Qian·Boyao Han·Chen Shi·Lei Xiao·Long Yang·Shaoshuai Shi·Li Jiang
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Abstract

Vision-Language-Action (VLA) models achieve strong generalization in robotic manipulation but remain largely reactive and 2D-centric, making them unreliable in tasks that require precise 3D reasoning. We propose GeoPredict, a geometry-aware VLA framework that augments a continuous-action policy with predictive kinematic and geometric priors. GeoPredict introduces a trajectory-level module that encodes motion history and predicts multi-step 3D keypoint trajectories of robot arms, and a predictive 3D Gaussian geometry module that forecasts workspace geometry with track-guided refinement along future keypoint trajectories. These predictive modules serve exclusively as training-time supervision through depth-based rendering, while inference requires only lightweight additional query tokens without invoking any 3D decoding. Experiments on RoboCasa Human-50, LIBERO, and real-world manipulation tasks show that GeoPredict consistently outperforms strong VLA baselines, especially in geometry-intensive and spatially demanding scenarios.

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Jingjing Qian, Boyao Han, Chen Shi, Lei Xiao, Long Yang, Shaoshuai Shi, Li Jiang. 2026-04-07. GeoPredict: Leveraging Predictive Kinematics and 3D Gaussian Geometry for Precise VLA Manipulation. https://arxiv.org/abs/2512.16811

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