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Author

Dwip Dalal

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Jul 2026

Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment

Anchor-Align is proposed, which augments BC with two objectives: Vision-Language Anchoring distills layer-wise representations from a frozen VLM copy to prevent this drift, and Language-Action Alignment converts each action target into a discrete motion-direction label and jointly trains language and action prediction...

Dwip Dalal, Shivansh Patel, Chahit Jain et al. · 2 citations

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