AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
[Submitted on 6 Sep 2026] Title:Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model View a PDF of the paper titled Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model, by Hao Li and 2 other authors View PDF HTML (experimental) Abstract:We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial tasks and evaluated over three seeds and 540 held-out rollouts. Conditioning recurrent decay gates on geometric increments yields 28.9% success, compared with 36.7% when those increments are shuffled during training and 24.4% without explicit object/goal geometry. Both geometry policies receive correct inputs at evaluation. A token adapter using the same increments scores 27.8%; differences vary across seeds and remain inconclusive. Token-clock conditioning scores 11.1%, including one seed that fails to converge. In separate robustness tests, a state-only relative-coordinate policy retains 7/10 success under frame relabeling, whereas all four tested visual policies fall to at most 3/20 after a 5 cm object displacement. These results show no reliable advantage from training-time geometric alignment under this recipe and illustrate the gap between coordinate invariance and physical-layout generalization. Episode records, seed-level analyses, and figure-generation code accompany the paper. Comments: 7 pages, 3 figures. Includes ancillary data and analysis code Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2609.09213 [cs.RO] (or arXiv:2609.09213v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.09213 arXiv-issued DOI via DataCite Submission history From: Haofei Sun [view email] [v1] Sun, 6 Sep 2026 05:55:24 UTC (561 KB) Full-text links: Access Paper: View a PDF of the paper titled Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model, by Hao Li and 2 other authors View PDF HTML (experimental) TeX Source view license Ancillary-file links: Ancillary files (details): supp/README.md supp/SHA256SUMS supp/analysis.json supp/figures/architecture.pdf supp/figures/architecture.tex.txt supp/preregistered_ledger_ANONYMIZED.md supp/records/frame_relabeling/mtS_b0state_rot0.json.episodes.jsonl supp/records/frame_relabeling/mtS_b0state_rot45.json.episodes.jsonl supp/records/frame_relabeling/mtS_b0state_rot90.json.episodes.jsonl supp/records/frame_relabeling/mtS_c1state_rot0.json.episodes.jsonl supp/records/frame_relabeling/mtS_c1state_rot45.json.episodes.jsonl supp/records/frame_relabeling/mtS_c1state_rot90.json.episodes.jsonl supp/records/frame_relabeling/mtS_f1state_rot0.json.episodes.jsonl supp/records/frame_relabeling/mtS_f1state_rot45.json.episodes.jsonl supp/records/frame_relabeling/mtS_f1state_rot90.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t0_cm0.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t0_cm10.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t0_cm5.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t4_cm0.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t4_cm10.json.episodes.jsonl supp/records/layout_shift/layE_c0_host_s0_t4_cm5.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t0_cm0.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t0_cm10.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t0_cm5.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t4_cm0.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t4_cm10.json.episodes.jsonl supp/records/layout_shift/layE_c2_relcoord_concat_s0_t4_cm5.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t0_cm0.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t0_cm10.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t0_cm5.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t4_cm0.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t4_cm10.json.episodes.jsonl supp/records/layout_shift/layE_f0_geometry_decay_s0_t4_cm5.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t0_cm0.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t0_cm10.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t0_cm5.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t4_cm0.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t4_cm10.json.episodes.jsonl supp/records/layout_shift/layE_f0_shuffled_geometry_s0_t4_cm5.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_b1_clock_decay_s2_t8.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_c0_host_s2_t8.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_c1_coord_mlp_s2_t8.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_c2_relcoord_concat_s2_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_geometry_decay_s2_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s0_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s0_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s0_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s1_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s1_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s1_t8.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s2_t0.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s2_t4.json.episodes.jsonl supp/records/main_table/m3E_f0_shuffled_geometry_s2_t8.json.episodes.jsonl supp/records/split_manifest.json supp/records/training_summaries.json supp/scripts/analyze.py supp/scripts/paired_stats.py (92 additional files not shown) Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)