{"id":"https://openalex.org/W7138429114","doi":"https://doi.org/10.1609/aaai.v40i22.38950","title":"Bridging Scale Discrepancies in Robotic Control via Language-Based Action Representations","display_name":"Bridging Scale Discrepancies in Robotic Control via Language-Based Action Representations","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138429114","doi":"https://doi.org/10.1609/aaai.v40i22.38950"},"language":"en","primary_location":{"id":"doi:10.1609/aaai.v40i22.38950","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38950","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1609/aaai.v40i22.38950","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129681091","display_name":"Yuchi Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchi Zhang","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102542044","display_name":"Churui Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Churui Sun","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129702116","display_name":"Shiqi Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqi Liang","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060287819","display_name":"Diyuan Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Diyuan Liu","raw_affiliation_strings":["iFLYTEK Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iFLYTEK Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129748562","display_name":"Chao Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chao Ji","raw_affiliation_strings":["iFLYTEK Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iFLYTEK Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129680920","display_name":"Weinan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Zhang","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129653034","display_name":"Ting Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Liu","raw_affiliation_strings":["Harbin Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22019002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"22","first_page":"18809","last_page":"18817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5267000198364258,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5267000198364258,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.23919999599456787,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.05609999969601631,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.751800000667572},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6236000061035156},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.5479000210762024},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5182999968528748},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4754999876022339},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46959999203681946},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.46779999136924744},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.42579999566078186},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42089998722076416}],"concepts":[{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.751800000667572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.694100022315979},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6236000061035156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6223000288009644},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.5479000210762024},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5182999968528748},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4754999876022339},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46959999203681946},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.46779999136924744},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.42579999566078186},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42089998722076416},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.38339999318122864},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.36329999566078186},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.33250001072883606},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.31790000200271606},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.3059999942779541},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.30090001225471497},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.28870001435279846},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.27970001101493835},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.2522999942302704},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.25220000743865967}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1609/aaai.v40i22.38950","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38950","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:ojs.aaai.org:article/38950","is_oa":false,"landing_page_url":"https://ojs.aaai.org/index.php/AAAI/article/view/38950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2159-5399","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i22.38950","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38950","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.5015089511871338,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"end-to-end":[1],"robotic":[2,27,41,138],"manipulation":[3,139],"research":[4],"increasingly":[5],"adopts":[6],"architectures":[7],"inspired":[8],"by":[9],"large":[10],"language":[11],"models":[12],"to":[13,32,63,77],"enable":[14],"robust":[15],"manipulation.":[16],"However,":[17],"a":[18,58,97],"critical":[19],"challenge":[20],"arises":[21],"from":[22],"severe":[23],"distribution":[24,94],"shifts":[25],"between":[26,111],"action":[28,37,72,112],"data,":[29],"primarily":[30],"due":[31],"substantial":[33],"numerical":[34,78],"variations":[35],"in":[36,137],"commands":[38],"across":[39],"diverse":[40],"platforms":[42],"and":[43,114,135],"tasks,":[44],"hindering":[45],"the":[46,80,104,108,128],"effective":[47],"transfer":[48],"of":[49],"pretrained":[50],"knowledge.":[51],"To":[52],"address":[53],"this":[54],"limitation,":[55],"we":[56],"propose":[57],"semantically":[59],"grounded":[60],"linguistic":[61],"representation":[62,82,106],"normalize":[64],"actions":[65],"for":[66],"efficient":[67],"pretraining.":[68],"Unlike":[69],"conventional":[70],"discretized":[71],"representations":[73],"that":[74,127],"are":[75],"sensitive":[76],"scales,":[79],"motion":[81,105],"specifically":[83],"disregards":[84],"numeric":[85],"scale":[86],"effects,":[87],"emphasizing":[88],"directionality":[89],"instead.":[90],"This":[91],"abstraction":[92],"mitigates":[93],"shifts,":[95],"yielding":[96],"more":[98],"generalizable":[99],"pretraining":[100],"representation.":[101],"Moreover,":[102],"using":[103],"narrows":[107],"feature":[109],"distance":[110],"tokens":[113],"standard":[115],"vocabulary":[116],"tokens,":[117],"mitigating":[118],"modality":[119],"gaps.":[120],"Multi-task":[121],"experiments":[122],"on":[123],"two":[124],"benchmarks":[125],"demonstrate":[126],"proposed":[129],"method":[130],"significantly":[131],"improves":[132],"generalization":[133],"performance":[134],"transferability":[136],"tasks.":[140]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-03-18T00:00:00"}