Act2Answer protocol reveals VLA models retain simple concepts but show larger gaps on complex semantics than source VLMs, with VQA co-training linked to better retention and knowledge signals peaking in middle layers.
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Does VLA Even Know the Basics? Measuring Commonsense and World Knowledge Retention in Vision-Language-Action Models
Act2Answer protocol reveals VLA models retain simple concepts but show larger gaps on complex semantics than source VLMs, with VQA co-training linked to better retention and knowledge signals peaking in middle layers.