@article{fromnoisetointentanchoringgenerativevlap,
  title = {From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges},
  author = {Yiming Zhong and Yaoyu He and Zemin Yang and Pengfei Tian and Yifan Huang and Qingqiu Huang and Xinge Zhu and Yuexin Ma},
  year = {2026},
  eprint = {2604.21391},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.21391},
}