Steering Multirobot Behavior via Closed-Loop Affine Activation Editing

arXiv:2606.11489 · cs.RO · Submitted 2026-06-09 · Read on arXiv

cs.RO

Submitted: 2026-06-09

Updated: 2026-09-21

Terminology

• Steering — 108× in this paper · explained in 2 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Closed-Loop Affine Activation Editing — 8× in this paper
• Fine-Tuning — 7× in this paper · explained in 5 episodes
• Linear probe — 7× in this paper · explained in 2 episodes
• Reinforcement Learning — 7× in this paper · explained in 4 episodes
• Activation Steering — 4× in this paper · explained in 4 episodes
• Collision-Free Rate — 4× in this paper
• Catastrophic Forgetting — 3× in this paper · explained in 5 episodes
• Closed-Loop System — 3× in this paper · explained in 4 episodes
• Interpretability — 3× in this paper · explained in 15 episodes
• VLA Models — 3× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Representation Engineering — 2× in this paper · explained in 2 episodes
• Success Rate — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• Observing and Controlling Features in Vision-Language-Action Models
• QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control

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