arxivcs.RO2026-06-25
LA4VLA: Learning to Act without Seeing via Language-Action Pretraining
Tao Lin, Yuxin Du, Yiran Mao, Zewei Ye, Yilei Zhong, Bing Cheng, et al.
Vision-Language-Action (VLA) models are commonly pretrained on robot demonstrations by jointly mapping visual observations and language instructions to actions. However, dense visual-action supervision can dominate the comparatively sparse language-action signal. As a result, pol…