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[Submitted on 29 Sep 2026] Title:Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation View a PDF of the paper titled Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation, by Ke Zhang and 2 other authors View PDF HTML (experimental) Abstract:Training data variation, whether through designing a domain randomization (DR) scheme in simulation or curating demonstrations for imitation learning, is a primary lever for improving the robustness of robotic manipulation policies. Yet its underlying mechanisms remain poorly understood, and practitioners typically select randomization parameters through expensive trial and error. We investigate these mechanisms through a series of case studies, randomizing object size, color, and type as well as scene lighting and linguistic prompts across settings including pick-and-place RL in ManiSkill and fine-tuning of vision-language-action (VLA) models on LIBERO and RoboTwin. We examine both model behavior and internal representations, using the empirical neural tangent kernel (NTK) as our primary diagnostic tool. We show that the NTK distinguishes a shift in the internal learning mechanism from \textit{memorizing} different situations with insufficient variation (e.g.\ learning what to do for a large cube, and what to do for a small cube) to \textit{adapting} to the situation at hand with sufficient variation. An NTK-based signal-to-noise ratio also helps distinguish when policies have learned to \emph{ignore} task-irrelevant factors (e.g.\ treating blue and red cubes identically, instead of learning a blue sub-policy and a red sub-policy). We use these diagnostics to develop practical guidance for designing DR schemes, selecting models, and detecting shortcut learning. We further compare different kinds of representations and validate our findings with real-world hardware experiments using ACT-based imitation learning. Subjects: Robotics (cs.RO) Cite as: arXiv:2609.38401 [cs.RO] (or arXiv:2609.38401v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.38401 arXiv-issued DOI via DataCite (pending registration) Submission history From: Ke Zhang [view email] [v1] Tue, 29 Sep 2026 18:57:43 UTC (3,461 KB) Full-text links: Access Paper: View a PDF of the paper titled Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation, by Ke Zhang and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs 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?)