RESEARCH PAPERSubmitted 7 Jan 2026

CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos

Chubin Zhang; Jianan Wang; Zifeng Gao; Yue Su; Tianru Dai; Cai Zhou; Jiwen Lu; Yansong Tang

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Classification

View four quadrants

Major category: VLA
Quadrant: Not applicable
Architecture: Dual-system
Prediction paradigm: Not applicable
Subcategories: Latent action pretraining Autoregressive VLA Diffusion & flow-matching VLA
Source review status: Verified from primary sources

AT A GLANCE

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BibTeX

@article{Zhang2026CLAPContrastive,
      title={CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos}, 
      author={Chubin Zhang and Jianan Wang and Zifeng Gao and Yue Su and Tianru Dai and Cai Zhou and Jiwen Lu and Yansong Tang},
      year={2026},
      journal={arXiv:2601.04061},
}

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