GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models

arXiv:2606.03240v2 Announce Type: replace Abstract: Current Vision-Language-Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment. We introduce GeoAlign, a state-guided spatial alignment architecture for VLA policy learning. Offline robot-domain RGB-D supervision post-trains an RGB geometry branch to produce Geometry-Enhanced Post-Trained (GEP) features; the depth head is then discarded, so policy training and rollout use RGB, language, and proprioceptive state. State-generated queries attend to the GEP grid to produce eight compact geometry tokens for action prediction. GeoAlign achieves 99.0% on LIBERO, 85.3% across three SimplerEnv-Fractal task families, and 78.8% on eight real-world ALOHA tasks, with ablations supporting the combined recipe of geometry post-training and state-guided querying on Isaac-GR00T N1.6-3B. Project website: https://chenyizhi123.github.io/geoalign-project/.