Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action data, primarily due to substantial numerical variations in action commands across diverse robotic platforms and tasks, hindering the effective transfer of pretrained knowledge. To address this limitation, we propose a semantically grounded linguistic representation to normalize actions for efficient pretraining. Unlike conventional discretized action representations that are sensitive to numerical scales, the motion representation specifically disregards numeric scale effects, emphasizing directionality instead. This abstraction mitigates distribution shifts, yielding a more generalizable pretraining representation. Moreover, using the motion representation narrows the feature distance between action tokens and standard vocabulary tokens, mitigating modality gaps. Multi-task experiments on two benchmarks demonstrate that the proposed method significantly improves generalization performance and transferability in robotic manipulation tasks.

Simile tasks are challenging in natural language processing (NLP) because models require adequate world knowledge to produce predictions. In recent years, pre-trained language models (PLMs) have succeeded in NLP since they learn generic knowledge from a large corpus. The knowledge embedded in PLMs can be used for different kinds of Simile tasks. However, previous work usually explored one type of simile knowledge for a specific simile task, how to fully utilize different types of knowledge embedded in the PLMs requires further exploration. This paper proposes a self-verified method for exploring simile knowledge from PLMs, which allows the PLMs to leverage one type of simile knowledge to self-validate another. To this end, we first enhance PLMs with a novel multi-level simile recognition (MLSR) task that trains PLMs to evaluate the quality of similes. Then the PLMs leverage this evaluation score to assist the simile interpretation and generation tasks. In this way, we connect different types of simile knowledge in PLMs and make better use of them. Experiments on different pre-trained models and multiple publicly available datasets show that our method works for different kinds of PLMs and can explore more accurate simile knowledge for PLMs. Our code/data will be released on GitHub.