新闻 · arXiv cs.AI

Semantic Anchoring for Robotic Action Representations

Vision-Language-Action (VLA) models inherit rich semantic representations from pretrained Vision-Language Models, yet fine-tuning on limited robot demonstrations degrades this structure and undermines generalization. A fundamental question therefore arises: what constitutes a good action representation? Inspired by the mirror neuron theory's insight that observation and execution share an intention-level encoding, we examine whether a robot's action representations preserve the semantic…