Yuvan Sharma Dantong Niu Anirudh Pai Zekai Wang Zhuoyang Liu Baifeng Shi Stefano Saravalle Boning Shao Ruijie Zheng Jing Wang Konstantinos Kallidromitis Yusuke Kato Fabio Galasso Yuke Zhu Danfei Xu Linxi "Jim" Fan Jitendra Malik Trevor Darrell Roei Herzig Contrastive Action-Image Pre-training for Visuomotor Control. 2026 June abs/2606.17256 CoRR https://doi.org/10.48550/arXiv.2606.17256 db/journals/corr/corr2606.html#abs-2606-17256 streams/journals/corr