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Semantic Anchoring: Introducing Semantic Anchoring to Robot Action Representations to Improve VLA Generalization

The paper proposes Semantic Anchoring, a plug-and-play method that anchors VLA action representations to a semantic manifold and splits them into a shared semantic channel and a private channel; both are discarded at inference, leaving the deployed model unchanged.

Part of the event: Semantic Anchoring: Introducing Semantic Anchoring into VLA Action Representations

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