Article

S²: Sensorimotor Alignment as an Offline Proxy for Embodied Policy Success

The authors propose Sensorimotor Alignment (S²), a training-free offline metric that measures how well a model's sensory representations align with the geometric structure of physical motion. The study finds that S² correlates positively with downstream robot task success across multiple embodied model families, enabling low-cost model screening before closed-loop evaluation and identification of promising VLM backbones before fine-tuning into VLAs.

Part of the event: Authors propose training-free offline metric S² to measure sensorimotor alignment

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