# Alignment among Language, Vision and Action Representations

arXiv: https://arxiv.org/abs/2601.22948 · HTML: https://mlsanity.com/paper/2601.22948/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 23 references that are in the map.
- First posted on arXiv 30 Jan 2026.

## Builds on (most cited first, 15 of 15)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Word Translation Without Parallel Data](https://mlsanity.com/paper/1710.04087/) (2017)
- [Implicit Representations of Meaning in Neural Language Models](https://mlsanity.com/paper/2106.00737/) (2021)
- [Linearly Mapping from Image to Text Space](https://mlsanity.com/paper/2209.15162/) (2022)
- [The Debate Over Understanding in AI's Large Language Models](https://mlsanity.com/paper/2210.13966/) (2022)
- [Can Language Models Encode Perceptual Structure Without Grounding? A Case Study in Color](https://mlsanity.com/paper/2109.06129/) (2021)
- [Meaning without reference in large language models](https://mlsanity.com/paper/2208.02957/) (2022)
- [Do Vision and Language Models Share Concepts? A Vector Space Alignment Study](https://mlsanity.com/paper/2302.06555/) (2023)
- [The Singleton Fallacy: Why Current Critiques of Language Models Miss the Point](https://mlsanity.com/paper/2102.04310/) (2021)

## Abstract (arXiv)

A fundamental question in cognitive science and AI concerns whether different learning modalities: language, vision, and action, give rise to distinct or shared internal representations. Traditional views assume that models trained on different data types develop specialized, non-transferable representations. However, recent evidence suggests unexpected convergence: models optimized for distinct tasks may develop similar representational geometries. We investigate whether this convergence extends to embodied action learning by training a transformer-based agent to execute goal-directed behaviors in response to natural language instructions. Using behavioral cloning on the BabyAI platform, we generated action-grounded language embeddings shaped exclusively by sensorimotor control requirements. We then compared these representations with those extracted from state-of-the-art large language models (LLaMA, Qwen, DeepSeek, BERT) and vision-language models (CLIP, BLIP). Despite substantial differences in training data, modality, and objectives, we observed robust cross-modal alignment. Action representations aligned strongly with decoder-only language models and BLIP (precision@15: 0.70-0.73), approaching the alignment observed among language models themselves. Alignment with CLIP and BERT was significantly weaker. These findings indicate that linguistic, visual, and action representations converge toward partially shared semantic structures, supporting modality-independent semantic organization and highlighting potential for cross-domain transfer in embodied AI systems.