Yunfei Xie, Howard H. Qian, Shiyi Lan, Kaiyu Hang, Chen Wei · 2026 · arXiv
DOI: 10.48550/arXiv.2610.31670 · open-access PDF
Robotic foundation models are typically evaluated through costly closed-loop rollouts, which motivates cheap offline proxies for model capability. The Platonic Representation Hypothesis (PRH) suggests that as representations improve, different modalities such as vision and language converge toward a shared statistical model of reality. We ask whether motion trajectories form another such modality: as embodied models become more capable, should their sensory representations converge toward the structure of physical motion? To examine this, we propose Sensorimotor Alignment ($S^2$), a training-f
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