Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models
Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is necessary for forming action-compatible representations, but when action supervision is applied too directly to the inherited multimodal pathway, it can also destabilize representations that support language-side processing and object grounding. To address this tension, we introduce Action QFormer, a query-based action-facing interface that uses instruction-conditioned queries to reorganize inherited multimodal in...
| Authors | Yufeng Ji, Wenhao Tang, Haoyi Niu et al. |
|---|---|
| Primary category | cs.AI |
| Published | 16 July 2026 |
| Last updated at source | 16 July 2026 |
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