Masashi Hamaya

CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding

Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya, Kuniaki Saito, Cristian C. Beltran-Hernandez, Mai Nishimura

Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the backbone so extensively that it becomes difficult to isolate what the VLM contributes to control. D…Read more