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Yuri Ishitoya

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Preprint Jul 2026

CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding

CLAP (Causal Language-Action Prediction), which prepends each numeric action sequence with a natural-language action description, causally conditioning precise action-token prediction on a language-action plan without modifying the backbone architecture, enabling controlled analysis of VLM-to-VLA capability transfer.

Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya et al. · 0 citations