待翻譯：Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.10484v1 Announce Type: new Abstract: Action verbs describe not only the physical outcomes of actions, but also how those actions are performed. Yet action representations in vision-language-action models (VLAs) are typically optimized for reconstruction under L1/L2 losses in raw action space, where numerical proximity need not reflect linguistically meaningful distinctions. On BridgeV2, we show that action trajectories contain verb-grounding information beyond visual state changes, and that reconstruction-only discrete tokenization systematically erodes this information. To address this problem, we introduce SALT, a Semantically ALigned action Tokenizer that augments a VQ-VAE-style tokenizer with an auxiliary objective requiring a frozen vision-language model to recover the episode instruction from quantized action latents. Policies trained with SALT achieve 71.9% average success in SimplerEnv, compared with 42.7% for a reconstruction-only VQ-VAE tokenizer and 31.2% for FAST. SALT also develops verb-specialized codes while maintaining reconstruction fidelity. These results show that robot action trajectories provide a source of language grounding and that preserving this structure in action representations can substantially improve language-conditioned control.
AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
--> [Submitted on 11 Aug 2026] Title:Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models View a PDF of the paper titled Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models, by Li Wenjie and 5 other authors View PDF HTML (experimental) Abstract:Action verbs describe not only the physical outcomes of actions, but also how those actions are performed. Yet action representations in vision-language-action models (VLAs) are typically optimized for reconstruction under L1/L2 losses in raw action space, where numerical proximity need not reflect linguistically meaningful distinctions. On BridgeV2, we show that action trajectories contain verb-grounding information beyond visual state changes, and that reconstruction-only discrete tokenization systematically erodes this information. To address this problem, we introduce SALT, a Semantically ALigned action Tokenizer that augments a VQ-VAE-style tokenizer with an auxiliary objective requiring a frozen vision-language model to recover the episode instruction from quantized action latents. Policies trained with SALT achieve 71.9% average success in SimplerEnv, compared with 42.7% for a reconstruction-only VQ-VAE tokenizer and 31.2% for FAST. SALT also develops verb-specialized codes while maintaining reconstruction fidelity. These results show that robot action trajectories provide a source of language grounding and that preserving this structure in action representations can substantially improve language-conditioned control. Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Computation and Language (cs.CL) Cite as: arXiv:2608.10484 [cs.RO] (or arXiv:2608.10484v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.10484 arXiv-issued DOI via DataCite (pending registration) Submission history From: Li Wenjie [view email] [v1] Tue, 11 Aug 2026 04:57:17 UTC (5,504 KB) Full-text links: Access Paper: View a PDF of the paper titled Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models, by Li Wenjie and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.CL References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)