Preserving pretrained VLM features with layer-wise distillation plus supervising the language head on discretized action directions improves OOD generalization of VLA policies on LIBERO, CALVIN, and a real xArm7.
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Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Preserving pretrained VLM features with layer-wise distillation plus supervising the language head on discretized action directions improves OOD generalization of VLA policies on LIBERO, CALVIN, and a real xArm7.