Papers
arxiv:2611.09376

Can LLMs Debug Robots by Editing Their Weights?

Published on Nov 6
Authors:
,
,

Abstract

A language model can repair a robot policy's lexical instruction grounding by editing just 65 token-embedding rows. We bring weight-space programming to robot foundation policies: GPT-6 Astra reads weights and uses a CPU workspace and budgeted simulator feedback, without gradient updates or new demonstrations. Three independent sessions on π_{0.5} all improve success on 765 held-out paraphrases; the best raises success from 86.3\% to 92.0\% (48 repairs, four regressions; exact paired p=1.31times10^{-10}). Among the 335 instructions containing edited tokens, success rises from 74.3\% to 87.5\%; the other 430 episodes have zero outcome changes. Matched random-direction edits do not help. Full replacement using the editor's own lexicon explains much of the gain but produces more regressions; its direct difference from the editor is not significant at 0.05. Across 13 further robot sessions, the editor declines 12 candidates; the sole retained edit does not show a significant held-out gain. Separately, benchmark metadata lowers FastWAM success from 70.0\% to 48.6\%, while the evaluated VLA's aggregate rate is unchanged. The evidence supports precise lexical repair, not general acquisition of missing robot capabilities.

Community

Sign up or log in to comment

Models citing this paper 0

No model linking this paper

Cite arxiv.org/abs/2611.09376 in a model README.md to link it from this page.

Datasets citing this paper 0

No dataset linking this paper

Cite arxiv.org/abs/2611.09376 in a dataset README.md to link it from this page.

Spaces citing this paper 0

No Space linking this paper

Cite arxiv.org/abs/2611.09376 in a Space README.md to link it from this page.

Collections including this paper 0

No Collection including this paper

Add this paper to a collection to link it from this page.