FiberTune: Preserving Action-Fiber Visual Residuals in Vision-Language-Action Fine-Tuning
Updated 4 h ago · first seen 11 Sept 2026
paper_01M294GQ5VC97PYAG67M64AC2W
- Published
- 11 Sept 2026
- T1 · 4 h ago
- arXiv
- 2606.08653
- T1 · 4 h ago
- Category
- cs.CV
- T1 · 4 h ago
Abstract
-cross Abstract: Action-supervised fine-tuning of vision-language-action (VLA) policies fits demonstrations effectively but constrains only the directions that change predicted actions, leaving visual structure consistent across action-equivalent states free to collapse. We formalize this as residual visual collapse along local action fibers and propose FiberTune, a training-time objective that preserves teacher-structured visual residuals without adding inference-time overhead. FiberTune uses an online action probe to estimate action-predictive feature directions, filters them from intermediate visual-token representations, and aligns the resulting probe-filtered residuals to a frozen visual teacher while regularizing their effective rank. Under identical training conditions, FiberTune improves over task-loss-only fine-tuning in every one of six controlled simulation settings spanning two benchmarks and two architectures (pi_0.5 and OpenVLA-OFT), as well as on physical SO-101 pick-place; representative gains include +10.7 percentage points SR(5) on long-horizon CALVIN ABC-to-D and physical SO-101 task success rising from 72.7% to 78.1%. Residual diagnostics show that these gains coincide with increased probe-filtered residual teacher alignment and effective rank, consistent with the action-fiber motivation.
Authors 10
Haihao Lin, Xiangsheng Huang, Xiao Yang, Weibang Zhou, Yiqi Zhang, Bo Yang, Simin Zeng, Jiawei Yang, Zhengyang Wang, Jiahui Du
Specification
- Official page
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Arxiv announce type
- replace
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- arXiv id
- 2606.08653
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Categories
- cs.CV, cs.AI, cs.LG, cs.RO
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Primary category
- cs.CV
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Each value shows its source, tier and observation time. Conflicting claims are kept side by side and flagged — never averaged. How AI Atlas records facts →
Provenance
Attributed facts
9
Source tiers
T19
Freshest observation
4 h ago
Conflicts
None
No models linked to this paper yet.
- Authors
- Haihao Lin, Xiangsheng Huang, Xiao Yang
As of
Rewind the record: see this entity's attributes exactly as AI Atlas knew them on a given day.
Claim history · Abstract
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| -cross Abstract: Action-supervised fine-tuning of vision-language-action (VLA) policies fits demonstrations effectively but constrains only the directions that change predicted actions, leaving visual structure consistent across action-equivalent states free to collapse. We formalize this as residual visual collapse along local action fibers and propose FiberTune, a training-time objective that preserves teacher-structured visual residuals without adding inference-time overhead. FiberTune uses an online action probe to estimate action-predictive feature directions, filters them from intermediate visual-token representations, and aligns the resulting probe-filtered residuals to a frozen visual teacher while regularizing their effective rank. Under identical training conditions, FiberTune improves over task-loss-only fine-tuning in every one of six controlled simulation settings spanning two benchmarks and two architectures (pi_0.5 and OpenVLA-OFT), as well as on physical SO-101 pick-place; representative gains include +10.7 percentage points SR(5) on long-horizon CALVIN ABC-to-D and physical SO-101 task success rising from 72.7% to 78.1%. Residual diagnostics show that these gains coincide with increased probe-filtered residual teacher alignment and effective rank, consistent with the action-fiber motivation. | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →
- New paperPaperFiberTune: Preserving Action-Fiber Visual Residuals in Vision-Language-Action Fine-Tuning
New paper: FiberTune: Preserving Action-Fiber Visual Residuals in Vision-Language-Action Fine-Tuning
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.AI | feed | T1· Official | 2 h ago | 1 |
Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.