Author

Ignacy Stępka

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Preprint Aug 2026

Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models

SALT is introduced, a Semantically ALigned action Tokenizer that augments a VQ-VAE-style tokenizer with an auxiliary objective requiring a frozen vision-language model to recover the episode instruction from quantized action latents to substantially improve language-conditioned control.

Wen-Jie Li, Yash Jangir, Ignacy Stępka et al. · 0 citations