{"id":"https://openalex.org/W7169081766","doi":"https://doi.org/10.48550/arxiv.2607.13429","title":"Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment","display_name":"Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment","publication_year":2026,"publication_date":"2026-07-15","ids":{"openalex":"https://openalex.org/W7169081766","doi":"https://doi.org/10.48550/arxiv.2607.13429"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.13429","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.13429","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2607.13429","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023899979","display_name":"Dwip Dalal","orcid":"https://orcid.org/0009-0007-4063-1076"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dalal, Dwip","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037632381","display_name":"Shivansh Patel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patel, Shivansh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140987416","display_name":"Chahit Jain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jain, Chahit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5141018725","display_name":"Jeonghwan Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Jeonghwan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140993075","display_name":"Utkarsh Mishra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mishra, Utkarsh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140979525","display_name":"Alex Baratian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baratian, Alex","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140983920","display_name":"Hyeonjeong Ha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ha, Hyeonjeong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058256157","display_name":"H Q Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005340983","display_name":"Svetlana Lazebnik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lazebnik, Svetlana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5015496512","display_name":"Unnat Jain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jain, Unnat","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":0.8468999862670898,"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":0.8468999862670898,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.03629999980330467,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.029400000348687172,"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/representation","display_name":"Representation (politics)","score":0.6531999707221985},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5938000082969666},{"id":"https://openalex.org/keywords/anchoring","display_name":"Anchoring","score":0.5498999953269958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4893999993801117},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43290001153945923},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4140999913215637},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3589000105857849},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.3458000123500824}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7610999941825867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6704999804496765},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6531999707221985},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5938000082969666},{"id":"https://openalex.org/C18483071","wikidata":"https://www.wikidata.org/wiki/Q168432","display_name":"Anchoring","level":2,"score":0.5498999953269958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39410001039505005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.34369999170303345},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3402000069618225},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.31610000133514404},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2590000033378601},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.13429","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.13429","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.13429","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.13429","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Finetuning":[0],"a":[1,41,84,100,117],"pretrained":[2,28,165],"vision-language":[3],"model":[4],"(VLM)":[5],"on":[6,37,111,131,148],"robot":[7,114],"demonstrations":[8],"via":[9],"behavior":[10],"cloning":[11],"(BC)":[12],"has":[13],"become":[14],"the":[15,27,112],"standard":[16,63],"recipe":[17],"for":[18],"vision-language-action":[19],"(VLA)":[20],"policies.":[21],"However,":[22],"BC":[23,74],"finetuning":[24],"progressively":[25],"overwrites":[26],"representations":[29,82,166],"that":[30,62,163],"support":[31],"visual":[32],"and":[33,51,104,108,136,153,159,167],"semantic":[34],"generalization.":[35],"Co-training":[36],"web":[38],"image-text":[39],"data,":[40],"common":[42],"remedy,":[43],"does":[44],"not":[45,67,172],"prevent":[46,89],"this;":[47],"it":[48],"applies":[49],"language":[50,107],"action":[52,97,109,169],"losses":[53],"to":[54,88,134,138],"separate":[55],"observations,":[56],"leaving":[57],"VLAs":[58],"with":[59,75],"language-action":[60],"misalignment":[61],"manipulation":[64],"benchmarks":[65],"do":[66],"expose.":[68],"We":[69],"propose":[70],"Anchor-Align,":[71],"which":[72],"augments":[73],"two":[76,122],"objectives:":[77],"Vision-Language":[78],"Anchoring":[79],"distills":[80],"layer-wise":[81],"from":[83],"frozen":[85],"VLM":[86],"copy":[87],"this":[90],"drift,":[91],"while":[92],"Language-Action":[93],"Alignment":[94],"converts":[95],"each":[96],"target":[98],"into":[99],"discrete":[101],"motion-direction":[102],"label":[103],"jointly":[105],"trains":[106],"prediction":[110],"same":[113],"observation.":[115],"On":[116],"physical":[118],"xArm7":[119],"robot,":[120],"across":[121,156],"widely":[123],"used":[124],"VLA":[125],"architectures,":[126],"Anchor-Align":[127],"improves":[128],"real-robot":[129],"success":[130],"both":[132],"(28%":[133],"54%":[135],"37%":[137],"60%).":[139],"At":[140],"scale":[141],"in":[142],"simulation,":[143],"we":[144],"demonstrate":[145],"consistent":[146],"improvements":[147],"OOD":[149],"perturbations,":[150],"perceptual":[151],"robustness,":[152],"long-horizon":[154],"control":[155],"LIBERO-PRO,":[157],"LIBERO-Plus,":[158],"CALVIN,":[160],"respectively,":[161],"suggesting":[162],"preserving":[164],"effective":[168],"learning":[170],"are":[171],"fundamentally":[173],"at":[174],"odds.":[175],"Project":[176],"page:":[177],"anchoralignvla.github.io":[178]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-17T00:00:00"}