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新论文 · v1arXiv:2611.07071

Shaping & Monitoring Models through their Internal Representations

Thomas Fel, Matthew Kowal, Matt Feiszli, Satchel Grant, Andrew Lee, Chris Earls, Fatih Dinc, Vasudev Shyam 等 26 位作者

We propose Mechanistic Shaping, a unified framework for shaping models through their internal representations. Mechanistic Shaping is applied during training so that models follow specifications (rules) about which concepts they express, measured via their outputs or internal representations (e.g., no harmful content), and also which concepts they rely on, i.e., what they use to make their decisions (e.g., not a candidate's gender when screening a résumé). Across multiple domains (vision, medical imaging, language), scales (up to 32B parameters), and training paradigms (classification, SFT, DPO, GRPO), we find that Mechanistic Shaping substantially reduces targeted behaviors while preserving task performance. Since training against a representation can also modify it, we ask whether shaped concepts remain monitorable, a question that depends on the class of monitors considered. We therefore introduce a hierarchy of such classes, which separates a concept that escapes one probe from a concept that is truly gone. We characterize three geometric mechanisms of circumvention: the concept can drift away from the monitor, be erased from the layer, or persist in higher-order statistics as a nonlinear encoding, which we explain through a product-code construction. Although other mechanisms may arise in different settings or at larger scales, these three account for all of our observations, and each can be detected by a matching monitor. In practice, we find that shaped concepts largely remain monitorable: refitted linear probes recover the concept in most settings, and the original probe remains reliable whenever gradients do not flow through it. Taken together, these results point to the potential of using interpretability as a tool for training, and call for a correspondingly rigorous science of interpretability-based training.

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cs.LG · cs.AI
arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.20840

A Phenomenology of Neural Geometry in Vision-Language-Action Models

Mozes Jacobs, Aiden Swann, Mathilde Papillon, Siddharth Boppana, Fenil R. Doshi, Usha Bhalla, Thomas Icard, Matt Feiszli 等 19 位作者

Robotic manipulation is inherently geometric, but what shape does the world take inside the policy that performs it? Prior work on vision-language-action (VLA) policies establishes that task-relevant variables are linearly readable from activations, yet readability certifies only that a variable is present and says nothing about the shape its values trace, which may be curved and multi-dimensional. Using controlled sweeps, natural rollouts, linear probes, and activation interventions, we build a taxonomy of seven task-relevant concepts in VLA models. We find that realized geometry is predominantly multi-dimensional and is shaped by the constraints under which the policy acts. Physical joint limits, for example, leave wrist orientation an open arc rather than a circle, and distance to the target, a single scalar, is realized in two orthogonal subspaces, a coarse ruler for the approach and a fine ruler for the grasp. The same geometries reappear in two further VLA models on real-world robot data, indicating that they are neither model-specific nor artifacts of simulation. We demonstrate how the findings are actionable by steering along the geometry a concept realizes. Overall, this work lays out an initial phenomenology of realized geometry in VLA policies and demonstrates that a concept's shape carries as much importance as its readability.

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cs.RO · cs.LG
arXiv ↗PDF ↗