{"paper":{"title":"SCAR: Self-Supervised Continuous Action Representation Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Biwei Huang, Fan Feng, Haofei Lu, Hongjia Liu, Minghao Fu, Xinyue Wang","submitted_at":"2026-05-13T16:23:11Z","abstract_excerpt":"Despite the central role of action in embodied intelligence, learning transferable action representations from visual transitions remains a fundamental challenge, particularly when world models must generalize across embodiments under limited data. We argue that action is not merely an auxiliary conditioning signal, but a distinct representational factor that decouples the controllable change from embodiment-specific actuation. In this work, we propose SCAR, a joint inverse-forward dynamics framework for learning unified action representations across embodiments from visual transitions. Built "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16412","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.16412/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T19:41:56.566081Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T19:34:36.594476Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"94416dcfbdfed106950614c12357eefc42d47177a79f0ead0af121244ccf4530"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}