UAM: A Dual-Stream Perspective on Forgetting in VLA Training
The paper discusses the limitations of current vision-language-action (VLA) models, which often suffer from a loss of multimodal competence due to a structural bottleneck. The authors propose the Unified Action Model (UAM) to address this issue by introducing a parallel Dorsal Expert pathway. This approach allows for effective training on action data while preserving the underlying model's capabilities.
- ▪Current VLA models erode multimodal competence due to the embodiment tax.
- ▪The Unified Action Model introduces a Dorsal Expert pathway to separate recognition and control.
- ▪UAM retains over 95% of the VLM's capabilities while achieving high success rates on manipulation tasks.
arXiv cs.AI files mainly under ai research. We currently carry 1,128 of its stories.
Story provenance
Source · retrieval · rights · ranking — open for full record
inspect →
Story provenance
Attribution is not the same as permission. This drawer separates discovery metadata, excerpts, WeSearch-generated summaries, reuse status, and whether the publisher receives the visit. Nothing here claims a legal grant the publisher has not made.
Record
| Original publisher | arXiv cs.AI |
| Canonical URL | https://arxiv.org/abs/2605.15735 |
| Publication time | Mon, 18 May 2026 00:00:00 -0400 |
| Retrieval time | 2026-05-18T04:04:54.418Z |
| Last seen | 2026-05-18T04:04:54.418Z |
| Headline source | Publisher (no WeSearch rewrite) |
| Excerpt source | publisher body |
| Excerpt method | First ~120 words (~800 chars) of extracted publisher body, fair-use limited. |
| Summary | WeSearch · cerebras-chat (WeSearch summarizer) |
| Summary source text | contentText |
| Citation coverage | Summary is a WeSearch-generated derivative; primary citation is the original publisher URL. |
| Cluster | Is7TK8Sj-e95 |
| Cluster logic | Grouped by semantic title/content similarity across sources within a rolling window. Same-publisher template collisions are excluded from coverage comparison. |
| Ranking reason | Story pages are not engagement-ranked. Hub feeds use recency, with optional source-diversified chronological ordering (cap consecutive stories per source). No personalized ranking. |
| Publisher visit | Yes — open original |
| Substitutes article? | No — link-out required for full text |
Rights status (four layers)
WeSearch handling by dimension
| Indexing | May the item be indexed (stored, ranked, made findable)? | Allowed |
| Snippet | May a short excerpt of the publisher's text be shown? | Allowed |
| AI summary | May WeSearch generate its own short summary of the article? | Limited |
| Retrieval / RAG | May the content be exposed for third-party retrieval-augmented generation? | Not asserted |
| Model training | May the content be used to train AI models? | Not asserted |
| Commercial reuse | May the content be reused commercially? | Not permitted |
Basis: Derived from the published RSS/Atom feed. Contact: [email protected]. Reviewed: 2026-07-24.
Opening excerpt (first ~120 words) tap to expand
Computer Science > Computer Vision and Pattern Recognition arXiv:2605.15735 (cs) [Submitted on 15 May 2026] Title:UAM: A Dual-Stream Perspective on Forgetting in VLA Training Authors:Jianke Zhang, Yuanfei Luo, Yucheng Hu, Xiaoyu Chen, Yanjiang Guo, Ziyang Liu, Hongbin Xu, Tian Lan, Jianyu Chen View a PDF of the paper titled UAM: A Dual-Stream Perspective on Forgetting in VLA Training, by Jianke Zhang and 8 other authors View PDF HTML (experimental) Abstract:Vision--language--action (VLA) models are typically built by fine-tuning a pretrained vision--language model (VLM) on action data. However, we show that this standard recipe systematically erodes the VLM's multimodal competence, a side effect we call the embodiment tax.
…
Excerpt limited to ~120 words for fair-use compliance. The full article is at arXiv cs.AI.
Discussion
0 commentsMore from arXiv cs.AI
