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A fundamental question therefore arises: what constitutes a good action representation? Inspired by the mirror neuron theory's insight that observation and execution share an intention-level encoding, we examine whether a robot's action representations preserve the semantic structure captured by pretrained encoders. Systematic probing confirms that this structure erodes during finetuning, and that its quality synchronizes with both task success and out-of-distribution generalization. We further introduce a plug-and-play method that anchors action representations to a semantic manifold while decomposing representations into a shared semantic channel and a private channel, all discarded at inference, leaving the deployed mod","title":"Semantic Anchoring for Robotic Action Representations","url":"https://arxiv.org/abs/2607.13597","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.13597v1 Announce Type: cross \nAbstract: Vision-Language-Action (VLA) models inherit rich semantic representations from pretrained Vision-Language Models, yet fine-tuning on limited robot demonstrations degrades this structure and undermines generalization. A fundamental question therefore arises: what constitutes a good action representation? Inspired by the mirror neuron theory's insight that observation and execution share an intention-level encoding, we examine whether a robot's action representations preserve the semantic structure captured by pretrained encoders. 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We further introduce a plug-and-play method that anchors action representations to a semantic manifold while decomposing representations into a shared semantic channel and a private channel, all discarded at inference, leaving the deployed mod","title":"Semantic Anchoring for Robotic Action Representations","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-16T04:44:04Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.13597"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:33e65f6f6f9cfe21afa86f1a50275a916604bc0fa7782db6f2b6ef75e941db8ee907ac1d191a2c3eff28996a996a794725537dad15d5a695e17b600ec45e4f04","signer":"crovia.substrate","subject":{"observed_at":"2026-07-16T04:44:04Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.13597"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"c6785c2be5879333e6b4a69c20502095ab6c37e39f7056bc1425910ced917fc0","leaf_index":319850,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a5cf8235d83d5585d7cf8753d5d6e482267ed7ce324a75d39d35d8e5e2094898","side":"right"},{"sibling":"355b89f6150d5c03701e4d95d9ced486816270ab9e88f086c9620a3b6c2dcd59","side":"left"},{"sibling":"09596449c30ef015628001c0cf816413c8396d2c08acf6d584d4178244bbe23c","side":"right"},{"sibling":"42fafd2a080ee667c76bb16b3643d6ac3636068ca6ed27c5dca73a05ffd9a716","side":"left"},{"sibling":"bd2eaacef5b344b1b011cd8650fb0fc5b75b3b5f5f7078a2010f8d3477e32cf9","side":"right"},{"sibling":"7d6829c76ffebfe548caed64b341e9fdebb022bb073bdf6ce3caab3926f59b0b","side":"left"},{"sibling":"2c7004d4be02967141b4e5609671d597ca4f0e246e61da911ae67ca20ab6e7e7","side":"left"},{"sibling":"ec3fec9bb698cfe3c65d9f75111532c318eaa7e7c5b933ded046cea471e330ab","side":"right"},{"sibling":"929619d7bb5abd9d4c015f749565f8d43a371ed382bafe122457d67edb9b8323","side":"left"},{"sibling":"1290775fa2a1fe2079ed83a9c60b8cb479714b6312967daa62f6a91dbbe1cac9","side":"right"},{"sibling":"95977bf2fb44d423026e874e6c275f78b1cf48666d2c472c5e4603d16f4faf7f","side":"right"},{"sibling":"6b83879fdb76b5b7270071f1edfe4d1a059fa9b92653e70fc8c8893214b8f237","side":"right"},{"sibling":"ff49c1d8749b258f58cc33cfaf20d723098ed6860fb62a6779db960d6250915b","side":"right"},{"sibling":"34d85f6ad6cc7dfa79d90e2b9ff99a561bcdc75b0301bbbd3e83861f54535c1e","side":"left"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"3ee6ab8db1878db0b324dd807ca233edd472899b8e90d2c5e018848ea5d12d99","side":"right"},{"sibling":"73a8d1605c15a74de720f0c54b5b4567e3eb8b5999bd8812dc66eedc461540fa","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":320080,"merkle_root":"1e159bceacfdb1f3c930dae410f8759ddc4c762abcfa4a257b150d6f44ab16e0","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260716T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-16T05:38:31Z","sig_algorithm":"ed25519","signature":"c1cd1fc5704d4fec4dee47b29a0e9877f8cfb41eb61dcfd783d82344a15f6e44d80d6cd5128849547b62fe9d9724fc71433319ab6030445b4ac1c9e6bf8a3709","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_37c5adde04650e6197900f9d1f9bcd4e6af8d2ad5348032d0ef9f5b51652c4bb"}}