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Zhe-Lin Yang

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#small language model Conference Open access Jul 2026

Reasoning Without Inference Cost: Latent Semantic Scaffolding for Robot VLA Policies

This work introduces Latent Semantic Scaffolding (LSS), an auxiliary loss applied during human-demonstration pretraining that aligns a VLA's action-token representations to text embeddings of physical-reasoning rationales through a small projection head.

A. Li, Zhuo Li, Zhe-Lin Yang et al. · Cyber .. · 3 citations