Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models

Vision-Language-Action (VLA) models combine perception, language, and motor control in a single architecture, yet how they translate multimodal inputs into actions remains poorly understood. We apply activation injection, sparse autoencoders (SAEs), and linear probes to six models spanning 80M--7B parameters across 394,000+ rollout episodes on four benchmarks. The visual pathway dominates action generation across all architectures: injecting baseline activations into null-prompt episodes recovers near-identical behavior, while cross-task injection steers robots toward source-task positions (99.8% of X-VLA episodes align with the source trajectory), exposing spatially bound motor programs tied to scene coordinates rather than abstract task representations. Language sensitivity depends on task structure, not model design: when visual context uniquely specifies the task, language is ignored; when multiple goals share a scene, language becomes essential (X-VLA \texttt{libero_goal}: 94%$\to$10% under wrong prompts vs.\ \texttt{libero_object}: 60--100% regardless). In all three multi-pathway architectures (\pizhalf{}, SmolVLA, GR00T), expert pathways encode motor programs while VLM pathways encode goal semantics ($2\times$ greater behavioral displacement from expert injection), and subspace injection confirms these occupy separable activation subspaces. Per-token SAE processing is essential for action fidelity on most architectures, though mean-pooling improves fidelity on X-VLA. Contrastive identification recovers 82+ manipulation concepts, and causal ablation reveals sensitivity spanning 28--92% zero-effect rates independent of representation width. We release \textbf{Action Atlas} (https://action-atlas.com) for interactive exploration of VLA representations across all six models.

Source: arXiv:2603.19233v1 - http://arxiv.org/abs/2603.19233v1 PDF: https://arxiv.org/pdf/2603.19233v1 Original Link: http://arxiv.org/abs/2603.19233v1