EmbodiedMidtrain: Bridging the Gap between Vision-Language Models and Vision-Language-Action Models via Mid-training

arXiv:2604.20012 · cs.CV, cs.AI, cs.CL · Submitted 2026-04-21 · Read on arXiv

cs.CV, cs.AI, cs.CL

Submitted: 2026-04-21

Updated: 2026-10-15

Terminology

• Alignment — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Vision-language models — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

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