Language-Grounded Decoupled Action Representation for Robotic Manipulation
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866911512255266816 |
|---|---|
| author | Weng, Wuding Wu, Tongshu Chen, Liucheng Xie, Siyu Wang, Zheng Xu, Xing Song, Jingkuan Shen, Heng Tao |
| author_facet | Weng, Wuding Wu, Tongshu Chen, Liucheng Xie, Siyu Wang, Zheng Xu, Xing Song, Jingkuan Shen, Heng Tao |
| contents | The heterogeneity between high-level vision-language understanding and low-level action control remains a fundamental challenge in robotic manipulation. Although recent methods have advanced task-specific action alignment, they often struggle to generate robust and accurate actions for novel or semantically related tasks. To address this, we propose the Language-Grounded Decoupled Action Representation (LaDA) framework, which leverages natural language as a semantic bridge to connect perception and control. LaDA introduces a fine-grained intermediate layer of three interpretable action primitives--translation, rotation, and gripper control--providing explicit semantic structure for low-level actions. It further employs a semantic-guided soft-label contrastive learning objective to align similar action primitives across tasks, enhancing generalization and motion consistency. An adaptive weighting strategy, inspired by curriculum learning, dynamically balances contrastive and imitation objectives for stable and effective training. Extensive experiments on simulated benchmarks (LIBERO and MimicGen) and real-world demonstrations validate that LaDA achieves strong performance and generalizes effectively to unseen or related tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_12967 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Language-Grounded Decoupled Action Representation for Robotic Manipulation Weng, Wuding Wu, Tongshu Chen, Liucheng Xie, Siyu Wang, Zheng Xu, Xing Song, Jingkuan Shen, Heng Tao Robotics The heterogeneity between high-level vision-language understanding and low-level action control remains a fundamental challenge in robotic manipulation. Although recent methods have advanced task-specific action alignment, they often struggle to generate robust and accurate actions for novel or semantically related tasks. To address this, we propose the Language-Grounded Decoupled Action Representation (LaDA) framework, which leverages natural language as a semantic bridge to connect perception and control. LaDA introduces a fine-grained intermediate layer of three interpretable action primitives--translation, rotation, and gripper control--providing explicit semantic structure for low-level actions. It further employs a semantic-guided soft-label contrastive learning objective to align similar action primitives across tasks, enhancing generalization and motion consistency. An adaptive weighting strategy, inspired by curriculum learning, dynamically balances contrastive and imitation objectives for stable and effective training. Extensive experiments on simulated benchmarks (LIBERO and MimicGen) and real-world demonstrations validate that LaDA achieves strong performance and generalizes effectively to unseen or related tasks. |
| title | Language-Grounded Decoupled Action Representation for Robotic Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.12967 |