{"id":"https://openalex.org/W7136172763","doi":"https://doi.org/10.48550/arxiv.2603.12967","title":"Language-Grounded Decoupled Action Representation for Robotic Manipulation","display_name":"Language-Grounded Decoupled Action Representation for Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7136172763","doi":"https://doi.org/10.48550/arxiv.2603.12967"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.12967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12967","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.12967","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129445822","display_name":"Wuding Weng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weng, Wuding","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129500176","display_name":"Tongshu Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Tongshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111162307","display_name":"Liucheng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Liucheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084014783","display_name":"Siyu Xie","orcid":"https://orcid.org/0000-0001-7234-7861"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Siyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129396515","display_name":"Zheng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129574378","display_name":"Xing Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Xing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129536623","display_name":"Jingkuan Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Jingkuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129583305","display_name":"Heng Tao Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Heng Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6620000004768372,"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":0.6620000004768372,"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":0.15549999475479126,"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":0.03700000047683716,"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/action","display_name":"Action (physics)","score":0.6647999882698059},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6304000020027161},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.506600022315979},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5005000233650208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4912000000476837},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47380000352859497},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4163999855518341},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.41499999165534973},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.3749000132083893}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7789999842643738},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6647999882698059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6606000065803528},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6304000020027161},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.506600022315979},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47380000352859497},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4163999855518341},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3749000132083893},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.349700003862381},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.313400000333786},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.2648000121116638},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.12967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12967","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.12967","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.12967","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5749424695968628,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"heterogeneity":[1],"between":[2],"high-level":[3],"vision-language":[4],"understanding":[5],"and":[6,31,63,77,104,118,123,132,134,143],"low-level":[7,84],"action":[8,23,74,98],"control":[9],"remains":[10],"a":[11,57,67,89],"fundamental":[12],"challenge":[13],"in":[14],"robotic":[15],"manipulation.":[16],"Although":[17],"recent":[18],"methods":[19],"have":[20],"advanced":[21],"task-specific":[22],"alignment,":[24],"they":[25],"often":[26],"struggle":[27],"to":[28,60,95,146],"generate":[29],"robust":[30],"accurate":[32],"actions":[33],"for":[34,83,121],"novel":[35],"or":[36,148],"semantically":[37],"related":[38,149],"tasks.":[39,150],"To":[40],"address":[41],"this,":[42],"we":[43],"propose":[44],"the":[45],"Language-Grounded":[46],"Decoupled":[47],"Action":[48],"Representation":[49],"(LaDA)":[50],"framework,":[51],"which":[52],"leverages":[53],"natural":[54],"language":[55],"as":[56],"semantic":[58,81],"bridge":[59],"connect":[61],"perception":[62],"control.":[64],"LaDA":[65,139],"introduces":[66],"fine-grained":[68],"intermediate":[69],"layer":[70],"of":[71],"three":[72],"interpretable":[73],"primitives--translation,":[75],"rotation,":[76],"gripper":[78],"control--providing":[79],"explicit":[80],"structure":[82],"actions.":[85],"It":[86],"further":[87],"employs":[88],"semantic-guided":[90],"soft-label":[91],"contrastive":[92,117],"learning":[93],"objective":[94],"align":[96],"similar":[97],"primitives":[99],"across":[100],"tasks,":[101],"enhancing":[102],"generalization":[103],"motion":[105],"consistency.":[106],"An":[107],"adaptive":[108],"weighting":[109],"strategy,":[110],"inspired":[111],"by":[112],"curriculum":[113],"learning,":[114],"dynamically":[115],"balances":[116],"imitation":[119],"objectives":[120],"stable":[122],"effective":[124],"training.":[125],"Extensive":[126],"experiments":[127],"on":[128],"simulated":[129],"benchmarks":[130],"(LIBERO":[131],"MimicGen)":[133],"real-world":[135],"demonstrations":[136],"validate":[137],"that":[138],"achieves":[140],"strong":[141],"performance":[142],"generalizes":[144],"effectively":[145],"unseen":[147]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-17T00:00:00"}