{"paper":{"title":"Offline Semantic Guidance for Efficient Vision-Language-Action Policy Distillation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.CV","authors_text":"Brady Zhang, Jin Shi, Yishun Lu","submitted_at":"2026-05-15T17:48:25Z","abstract_excerpt":"Billion-parameter Vision-Language-Action (VLA) policies have recently shown impressive performance in robotic manipulation, yet their size and inference cost remain major obstacles for real-time closed-loop control. We introduce \\textbf{VLA-AD}, a distillation framework that uses a Vision-Language Model as an offline semantic supervisor to transfer large VLA teachers into lightweight student policies. Instead of relying only on low-level action imitation, VLA-AD augments teacher-provided 7-DoF action targets with high-level semantic guidance, including task phase anchors and multi-frame operat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16241","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/2605.16241/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"shingle_duplication","ran_at":"2026-05-19T17:49:42.190933Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"citation_quote_validity","ran_at":"2026-05-19T17:49:41.799961Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:23.105605Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"external_links","ran_at":"2026-05-19T17:31:26.215193Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.612193Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"cited_work_retraction","ran_at":"2026-05-19T16:51:57.401601Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"fca234e583c4957242f28136adb227436e0eeda161ca141c0bd24830b461ed1e"},"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"}