@article{aptactionexpertpretrainingimprovesinstru,
  title = {APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies},
  author = {Kechun Xu and Zhenjie Zhu and Anzhe Chen and Rong Xiong and Yue Wang},
  year = {2026},
  eprint = {2606.12366},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.12366},
}