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News/Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
arxiv
PublishedSeptember 11, 2026 at 4:00 AM
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Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model

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arXiv:2609.09213v1 Announce Type: cross 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. Conditi

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