{"id":"https://openalex.org/W7168173297","doi":"https://doi.org/10.48550/arxiv.2607.08974","title":"CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding","display_name":"CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding","publication_year":2026,"publication_date":"2026-07-09","ids":{"openalex":"https://openalex.org/W7168173297","doi":"https://doi.org/10.48550/arxiv.2607.08974"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.08974","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08974","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.08974","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140567514","display_name":"Yuri Ishitoya","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ishitoya, Yuri","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116241545","display_name":"Jeremy Siburian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siburian, Jeremy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hamaya, Masashi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140524192","display_name":"Kuniaki Saito","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saito, Kuniaki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134118437","display_name":"Cristian C. Beltran-Hernandez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Beltran-Hernandez, Cristian C.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140529944","display_name":"Mai Nishimura","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nishimura, Mai","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":0.8912000060081482,"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":0.8912000060081482,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.01590000092983246,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10028","display_name":"Topic Modeling","score":0.009600000455975533,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robustness","display_name":"Robustness (evolution)","score":0.6531999707221985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5612999796867371},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.5256999731063843},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4553999900817871},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4343999922275543},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3944000005722046},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.3797000050544739},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.3727000057697296},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.35260000824928284}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7113000154495239},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6531999707221985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5612999796867371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5339999794960022},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.5256999731063843},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4553999900817871},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3797000050544739},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.3727000057697296},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.35260000824928284},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.29840001463890076},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.29339998960494995},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.29030001163482666},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2644999921321869},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2621000111103058},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2590999901294708},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2535000145435333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.08974","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08974","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.08974","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08974","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"models":[1],"(VLAs)":[2],"inherit":[3],"semantic":[4],"capabilities":[5,55,84],"from":[6,76,164],"pretrained":[7,38,79],"VLMs,":[8],"yet":[9],"large-scale":[10],"post-training":[11],"on":[12,114,131,140],"robot":[13],"data":[14],"and":[15,137,145,155],"architectural":[16,44],"modifications":[17],"can":[18],"reshape":[19],"the":[20,31,77,83,120],"backbone":[21,121],"so":[22],"extensively":[23],"that":[24],"it":[25],"becomes":[26],"difficult":[27],"to":[28,34,51,87],"isolate":[29],"what":[30],"VLM":[32,54,167],"contributes":[33],"control.":[35],"Directly":[36],"converting":[37],"VLMs":[39],"into":[40],"VLAs":[41],"with":[42,104],"minimal":[43],"change":[45],"offers":[46],"a":[47,105,115,165],"more":[48],"transparent":[49],"path":[50],"understanding":[52],"how":[53],"transfer":[56],"across":[57],"model":[58],"scales.":[59],"The":[60],"core":[61],"obstacle":[62],"is":[63],"output-distribution":[64],"mismatch:":[65],"predicting":[66],"actions":[67],"as":[68,157],"bare":[69],"numeric":[70,101],"token":[71],"sequences":[72],"moves":[73],"generation":[74],"away":[75],"VLM's":[78],"language":[80],"distribution,":[81],"degrading":[82],"we":[85,92],"seek":[86],"preserve.":[88],"To":[89],"address":[90],"this,":[91],"propose":[93],"CLAP":[94,128,151],"(Causal":[95],"Language-Action":[96],"Prediction),":[97],"which":[98],"prepends":[99],"each":[100],"action":[102,107],"sequence":[103],"natural-language":[106],"description,":[108],"causally":[109],"conditioning":[110],"precise":[111],"action-token":[112],"prediction":[113],"language-action":[116],"plan":[117],"without":[118],"modifying":[119],"architecture.":[122],"With":[123],"single-epoch":[124],"fine-tuning":[125],"alone,":[126],"2B":[127],"achieves":[129],"90.8%":[130],"LIBERO":[132],"(+14.9":[133],"pt":[134],"over":[135],"VLA-0)":[136],"improves":[138],"robustness":[139],"LIBERO-PRO":[141],"under":[142],"language,":[143],"object,":[144],"spatial":[146],"perturbations.":[147],"We":[148],"will":[149],"release":[150],"at":[152],"0.8B,":[153],"2B,":[154],"4B":[156],"an":[158],"open-weight,":[159],"multi-scale":[160],"compact":[161],"VLA":[162],"family":[163],"single":[166],"lineage,":[168],"enabling":[169],"controlled":[170],"analysis":[171],"of":[172],"VLM-to-VLA":[173],"capability":[174],"transfer.":[175]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-14T00:00:00"}