多次元特徴量化によるロボット基盤モデルの細粒度制御とデータ整形
Multi-Dimensional Featurizers Yield Fine-Grained Steering and Data Shaping in Robot Foundation Models
視覚言語行動モデルにブロック疎特徴量化を適用し、多次元特徴を抽出して行動を細かく制御できること、また訓練データのごく一部をマスクするだけで特定行動を除去できることを示した。
著者: Aiden Swann, Mozes Jacobs, Mathilde Papillon, Siddharth Boppana, David Chanin, Dron Hazra, Usha Bhalla, Curt Tigges, Mac Schwager, Owen Lewis, Jack Merullo, Ekdeep Singh Lubana, Atticus Geiger, Thomas Fel, Matthew Kowal
分類: cs.RO
原文アブストラクト
Can better feature discovery improve control over robot behavior through internal interventions and training data? Recent work in vision and language models reveals multidimensional features, motivating block-sparse featurizers (BSFs), which represent each feature in a low-dimensional subspace. We investigate whether recovering this structure provides an interpretable interface for steering vision-language-action models and shaping the data from which they learn. We show that BSFs recover several multi-dimensional task-relevant features underlying the model's computation (e.g., perception, language, proprioceptive state, episode phase, and control variables). We causally validate these features through fine-grained steering: targeted changes in visual perception, semantic representation, and spatial localization produce predictable changes in downstream action prediction. Finally, we use feature-based data attribution to isolate where a specific behavior (failure recovery) arises in the training dataset, identifying fewer than $1.4\%$ of training tokens whose masking is sufficient to remove the targeted behavior. Overall, our results show how matching featurizers to representation geometry can provide more effective tools for understanding and changing robot behavior.