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#continued-pretraining

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01 ·★ MEMBER·PAPER·10 min read Paper Explained: Beyond Data Scaling — Why the Backbone, Not the Trajectory Count, Decides Your VLA (VLAct) Robot trajectories can't be scraped off the web, so the paper argues you should squeeze reusable representations out of the trajectories you do have. Three modest interventions — preserving the VLM prior, co-supervising with multiple action heads, and partially unifying the action space across embodiments — beat industrial VLA systems on fully open data and 16 GPUs.