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A robot policy is trained with one of two action parameterizations: absolute joint targets, or deltas relative to the current state. The choice is a live engineering decision in robot learning, and a world model conditioned on actions inherits it silently. We show the inheritance is catastrophic. A latent dynamics mode...
We derive exact local responses for attention interventions, allowing candidate edits to be scored from a cached baseline and one backward pass. The starting point is the RoPE derivative $\partial_p z(p) = A z(p)$: its integral gives the finite positional displacement, which we carry through the softmax without lineari...
We derive an exact gradient-step representation of the RoPE-softmax forward pass. For every deterministic RoPE-softmax attention head with arbitrary affine projection weights, we construct a query-dependent effective matrix $\Delta M_i$ satisfying $y_i = \mu_i + u_i^\top \Delta M_i$, where $\mu_i$ is the uniform mean o...
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