{"id":"https://openalex.org/W7164034374","doi":"https://doi.org/10.48550/arxiv.2606.08653","title":"FiberTune: Preserving Action-Fiber Visual Residuals in Vision-Language-Action Fine-Tuning","display_name":"FiberTune: Preserving Action-Fiber Visual Residuals in Vision-Language-Action Fine-Tuning","publication_year":2026,"publication_date":"2026-06-07","ids":{"openalex":"https://openalex.org/W7164034374","doi":"https://doi.org/10.48550/arxiv.2606.08653"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.08653","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08653","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.2606.08653","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138235095","display_name":"Haihao Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Haihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034994052","display_name":"Xiangsheng Huang","orcid":"https://orcid.org/0009-0007-5972-5793"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Xiangsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138232894","display_name":"Xiao Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138245801","display_name":"Weibang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Weibang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138236297","display_name":"Yiqi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yiqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138275481","display_name":"Bo Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Bo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138279864","display_name":"Simin Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Simin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138216601","display_name":"Jiawei Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138212393","display_name":"Zhengyang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhengyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138231326","display_name":"Jiahui Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Jiahui","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8445000052452087,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8445000052452087,"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/T11431","display_name":"Action Observation and Synchronization","score":0.021800000220537186,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.01510000042617321,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.8640999794006348},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6050999760627747},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5900999903678894},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5131000280380249},{"id":"https://openalex.org/keywords/visual-inspection","display_name":"Visual inspection","score":0.3643999993801117},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.3449999988079071}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.8640999794006348},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6050999760627747},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5900999903678894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5450999736785889},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5131000280380249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5044999718666077},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43320000171661377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4027999937534332},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39259999990463257},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.34119999408721924},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.08653","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08653","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.2606.08653","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08653","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":[{"score":0.7621188759803772,"id":"https://metadata.un.org/sdg/4","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":{"Action-supervised":[0],"fine-tuning":[1,95],"of":[2,99],"vision-language-action":[3],"(VLA)":[4],"policies":[5],"fits":[6],"demonstrations":[7],"effectively":[8],"but":[9],"constrains":[10],"only":[11],"the":[12,73,159],"directions":[13],"that":[14,45,144],"change":[15],"predicted":[16],"actions,":[17],"leaving":[18],"visual":[19,33,48,80],"structure":[20],"consistent":[21,157],"across":[22],"action-equivalent":[23],"states":[24],"free":[25],"to":[26,60,77,139],"collapse.":[27],"We":[28],"formalize":[29],"this":[30],"as":[31,113,115],"residual":[32,151],"collapse":[34],"along":[35],"local":[36],"action":[37,58],"fibers":[38],"and":[39,71,107,111,131,154],"propose":[40],"FiberTune,":[41],"a":[42,78],"training-time":[43],"objective":[44],"preserves":[46],"teacher-structured":[47],"residuals":[49,76],"without":[50],"adding":[51],"inference-time":[52],"overhead.":[53],"FiberTune":[54,91],"uses":[55],"an":[56],"online":[57],"probe":[59],"estimate":[61],"action-predictive":[62],"feature":[63],"directions,":[64],"filters":[65],"them":[66],"from":[67,137],"intermediate":[68],"visual-token":[69],"representations,":[70],"aligns":[72],"resulting":[74],"probe-filtered":[75,150],"frozen":[79],"teacher":[81,152],"while":[82],"regularizing":[83],"their":[84],"effective":[85,155],"rank.":[86],"Under":[87],"identical":[88],"training":[89],"conditions,":[90],"improves":[92],"over":[93],"task-loss-only":[94],"in":[96],"every":[97],"one":[98],"six":[100],"controlled":[101],"simulation":[102],"settings":[103],"spanning":[104],"two":[105,108],"benchmarks":[106],"architectures":[109],"(pi_0.5":[110],"OpenVLA-OFT),":[112],"well":[114],"on":[116,127],"physical":[117,132],"SO-101":[118,133],"pick-place;":[119],"representative":[120],"gains":[121,146],"include":[122],"+10.7":[123],"percentage":[124],"points":[125],"SR(5)":[126],"long-horizon":[128],"CALVIN":[129],"ABC-to-D":[130],"task":[134],"success":[135],"rising":[136],"72.7%":[138],"78.1%.":[140],"Residual":[141],"diagnostics":[142],"show":[143],"these":[145],"coincide":[147],"with":[148,158],"increased":[149],"alignment":[153],"rank,":[156],"action-fiber":[160],"motivation.":[161]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-10T00:00:00"}