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STAR: Steering Action Representations during Inference — arXiv:2610.41009

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.41009
License (as archived): CC0-1.0
Archived: 2026-11-03T07:22:20.701Z
SHA-256 of the archived text: 6804cf0547ccc1a8e67946a086dc41da4cda8859f7e0d5942071810109abac2c
Stable URL of this page: https://metraipolis.com/documento/dc_531ebf00a45a

How to cite

STAR: Steering Action Representations during Inference — arXiv:2610.41009 — arXiv (en), https://arxiv.org/abs/2610.41009 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_531ebf00a45a (Metraipolis archive dc_531ebf00a45a, sha256 6804cf0547ccc1a8e67946a086dc41da4cda8859f7e0d5942071810109abac2c)

BibTeX

@misc{dc531ebf00a45a,
  title = {STAR: Steering Action Representations during Inference — arXiv:2610.41009},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.41009},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_531ebf00a45a; sha256 6804cf0547ccc1a8e67946a086dc41da4cda8859f7e0d5942071810109abac2c},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.41009. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Vision-language-action models (VLAs) map language instructions and visual observations to robot actions, showing strong capabilities across robotic manipulation tasks. However, in our probing experiment, we find that action representations near the action output do not fully preserve task-relevant visual grounding. Motivated by this late-layer grounding gap, we introduce STAR, for STeering Action Representations, a training-free inference method for pre-trained VLAs. STAR applies an exponential moving average over late-layer residual updates, allowing later action representations to inherit object-aware update directions from earlier layers without model updates or architectural changes. It further uses recent proprioceptive states to adapt the mixing strength, using conservative mixing when execution dynamics change rapidly. Experiments on robot manipulation benchmarks show that STAR improves late-layer object awareness and increases average task success rates by 4.0 percentage points. Our code is available at this https URL .

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.AI, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Artificial Intelligence (cs.AI).
Pagina del lavoro: https://arxiv.org/abs/2610.41009 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-03T07:19:48.884Z dalla pagina https://arxiv.org/list/cs.AI/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).