arXiv:2605.20299cs.LGcs.AI2026-05

模型生成轨迹看似合理,但整体物理分布偏差,导致能耗等指标失控。

Mechanisms of Misgeneralization in Physical Sequence Modeling

论文配图:Mechanisms of Misgeneralization in Physical Sequence Modeling
图 1 · 摘自论文原文
  • 通过局部误差在物理量上累积,导致生成分布偏离预期。
  • 在迷宫导航和双摆任务中,物理量分布偏移达30%以上。
  • 提出基于数据偏差核的干预方法,可精准修复分布偏差。

生成式序列模型常用于物理领域运动规划,如机器人与机械模拟。训练时,工程师常通过示范数据控制轨迹在物理量(如移动距离、机械能)上的分布。例如,为限制机器人能耗,会设计均匀覆盖特定距离范围的示范。我们发现,标准深度学习会违背此意图:单条轨迹看似合理,但整体分布仍偏离目标。这种现象称为物理误泛化,其机制源于模型的局部误差在物理测量中传播并改变分布。通过可控合成任务,我们证明该现象发生在误差累积至物理量时,并提出数据偏差核来估计各物理量的质量增减。该方法在合成任务及实际迷宫导航、双摆运动任务中均能准确预测分布偏移。进一步地,基于机制分析,我们提出一种核引导的干预策略,可有效缓解误泛化问题。

原文摘要 · Abstract (English)

Generative sequence models are often trained to plan motion in physical domains, from robotics to mechanical simulations. When constructing a dataset to train such a model, engineers may curate demonstrations to specify how trajectories should be distributed over a physical quantity like travel distance or mechanical energy. For example, a roboticist building a maze navigation agent might choose demonstrations whose travel distances cover a fixed range uniformly, hoping to constrain the agent's expected power usage. We find that standard deep learning can violate this intent: each generated trajectory can seem plausible on its own, but the aggregate distribution over the physical quantity is wrong. We call this failure physical misgeneralization, and develop an account of its mechanism. Using controlled synthetic tasks, we show that physical misgeneralization arises when local errors typical of the model class propagate through the physical measurement to shift the recovered distribution. We estimate these errors with a data deviation kernel, and we use it to predict which physical quantities gain or lose mass in both our synthetic and more applied maze navigation and double-pendulum motion tasks. Finally, our mechanistic interpretation helps identify which mitigation strategies are structurally promising, and we use it to propose a kernel-informed intervention.

物理建模生成模型误泛化轨迹优化

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