Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models

Action verbs describe not only the physical outcomes of actions, but also how those actions are performed. Yet action representations in vision-language-action models (VLAs) are typically optimized for reconstruction under L1/L2 losses in raw action space, where numerical proximity need not reflect linguistically meaningful distinctions. On BridgeV2, we show that action trajectories contain verb-grounding information beyond visual state changes, and that reconstruction-only discrete tokenization

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ethics.ai (11 August 2026), “Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models,” evidence record 18426, https://ethics.ai/record/18426 (originally published by arXiv).

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