Youheng Shi

Semantic Anchoring for Robotic Action Representations

Yuan Xu, Youheng Shi, Chengyang Li, Wentao Zhu, Yizhou Wang

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 goo…Read more