LeWorldModel 是否保持局部动作几何？
原标题：Does LeWorldModel Preserve Local Action Geometry?
AI 摘要
该论文研究预训练 LeWorldModel（LeWM）在 Reacher 和 OGBench Cube 环境中对小幅动作变化的局部动作几何保持能力。作者用 Gram 矩阵在三种扰动尺度下测量动作敏感性，发现最敏感动作方向的中位角度偏差分别约为 20° 和 30°，且扰动增大十倍会使归一化 Gram 差异下降约 70%（Reacher）和 47%（Cube）。在留出方向上，LeWM 的嵌入响应误差高于环境基准，表明其动作敏感性存在尺度依赖的错位，对控制的影响仍待研究。
正文节选
Does LeWorldModel Preserve Local Action Geometry? Abstract We examine how closely pretrained LeWorldModel (LeWM) reproduces the effects of small action changes. Using matched simulator and model responses, we measure action sensitivity with Gram matrices at three perturbation scales. Across nearly a thousand states from Reacher and OGBench Cube, the most sensitive action directions differ by median angles of about and , respectively, at the smallest scale. Increasing the perturbation tenfold red