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action alignment 1behavior cloning 1diffusion models 1efficiency 1generative modeling 1image generation 1pretraining 1representation anchoring 1robot manipulation 1vision-language models 1

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cs.RO2026

Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment

Dwip Dalal, Shivansh Patel, Chahit Jain +7

The paper introduces Anchor-Align, a method that adds representation anchoring and language-action alignment to behavior‑cloning finetuning of vision‑language models for robot mani…