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

- Source: arXiv cs.RO
- Published: 2026-10-23T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oesuvivi1iidcv6ha2x1kkal3
- Original: https://arxiv.org/abs/2610.31670

## Summary

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.