paper-with-me

Papers

Architectural Proprioception in State Space Models: Thermodynamic Training Induces Anticipatory Halt Detection

2026-03-04 · Jay Noon arxiv

We introduce the Probability Navigation Architecture (PNA) framework, which treats neural computation as navigation through a probability manifold governed by thermodynamic principles. We train State Space Models (SSMs) and Transformers with a novel thermodynamic loss function that penalizes computational waste alongside standard cross-entropy. Across 19 experimental phases, we discover that thermodynamically-trained SSMs develop architectural proprioception: a strong anticipatory coupling between recurrent state entropy and halt confidence (r = -0.836, p < 0.001) in which the halt signal leads state entropy collapse by exactly two tokens (tau = -2.0). This Universal Stopping Signature (USS) reproduces to four decimal places across random seeds and generalizes to a structurally distinct sorting task. Critically, Transformers trained identically show no such coupling (r = -0.07), demonstrating that the phenomenon is architecture-dependent. Cross-task transfer experiments confirm that SSM halt detection reflects genuine meta-cognition (zero-shot transfer F1: SSMs 64.2% vs. Transformers 69.3%; post-adaptation: SSMs 94.5% vs. Transformers 86.4%), while Transformer halt detection relies on syntactic pattern matching. A 2D hyperparameter sweep over energy penalty (alpha) and halt supervision (beta) reveals that the anticipatory coupling is continuously controllable through training, with thermodynamic pressure serving as the primary induction mechanism and explicit halt supervision as an amplifier. Our results establish that SSMs are thermodynamically native architectures whose fixed-size recurrent states naturally support the Markovian compression that enables computational self-awareness, with implications for cost-aware inference, dynamic token budgets, and confidence-based routing in production systems.

📄 PDF Abstract BibTeX arXiv:2603.04180

Code (0)

등록된 구현이 없습니다.

Similar Papers 제목 키워드 기반

When would Vision-Proprioception Policies Fail in Robotic Manipulation?

2026-02-12 · Jingxian Lu, Wenke Xia, Yuxuan Wu, Zhiwu Lu 외 arxiv

Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of the manipulation policy in complex tasks…

Motor Learning Without Moving: Hand Localization after Passive Training

2018-11-21

An accurate estimate of limb position is necessary for movement. Where we localize our unseen hand after a reach depends on felt hand position, or proprioception, but often only predicted sensory consequences based on ef…

Position

Thermodynamically Consistent Latent Dynamics Identification for Parametric Systems

2025-06-10 · Xiaolong He, Yeonjong Shin, Anthony Gruber, Sohyeon Jung 외

We propose an efficient thermodynamics-informed latent space dynamics identification (tLaSDI) framework for the reduced-order modeling of parametric nonlinear dynamical systems. This framework integrates autoencoders for…

Active LearningDimensionality Reduction

Thermodynamically Optimal Regularization under Information-Geometric Constraints

2026-01-24 · Laurent Caraffa arxiv

Modern machine learning relies on a collection of empirically successful but theoretically heterogeneous regularization techniques, such as weight decay, dropout, and exponential moving averages. At the same time, the ra…

LoLA: Long Horizon Latent Action Learning for General Robot Manipulation

2025-12-23 · Xiaofan Wang, Xingyu Gao, Jianlong Fu, Zuolei Li 외 arxiv

The capability of performing long-horizon, language-guided robotic manipulation tasks critically relies on leveraging historical information and generating coherent action sequences. However, such capabilities are often …

Robot Manipulation