Kepler-Encoder-v0.1: Towards a Multimodal Embedding Model for Robots

A robot must understand the state of its own body, but a camera sees only part of it. Force and contact leave almost no trace in a single frame, and raw vision features read force at $R^2$ at or below $0.10$ on every robot we test. We present Kepler-Encoder-v0.1, a robot-first multimodal encoder that treats robot state as a modality and fuses vision, proprioception, and force/torque into a single shared latent with a learned-query cross-attention layer, trained self-supervised by masked cross-modal prediction under the LeJEPA/SIGReg objective. At evaluation only vision enters, which poses a sharp question. Does fusing state into training make the vision-only latent carry anything the pixels do not already contain? On the RH20T corpus the answer is yes, precisely where the camera is weakest. On held-out scenes, the vision-only latent recovers end-effector state, and force in particular, significantly above both raw frozen-ViT features and a compute-matched vision-only control on every sensored robot, though absolute force recovery at a single timestep is modest; on motor state, which the camera largely sees, it is statistically tied with the strongest vision baselines, and it is the only feature whose latent geometry tracks state. A single embodiment-agnostic encoder covers four robots, and a data-matched control shows this breadth reflects embodiment diversity rather than data volume. The frozen latent is directly useful. Its own cross-modal prediction error is a training-free invalid-state monitor (AUROC $0.90$ on out-of-range states, $0.69$ on scene-swapped states), and a diffusion decoder (PixNerd) reconstructs the camera frame from the latent, confirming the spatial compression preserves world-state. This report validates the single-timestep case; native-rate temporal fusion is the next step.

From Refusal Tokens to Refusal Control: Discovering and Steering Category-Specific Refusal Directions

Language models are commonly fine-tuned for safety alignment to refuse harmful prompts. One approach fine-tunes them to generate categorical refusal tokens that distinguish different refusal types before responding. In this work, we leverage a version of Llama 3 8B fine-tuned with these categorical refusal tokens to enable inference-time control over fine-grained refusal behavior, improving both safety and reliability. We show that refusal token fine-tuning induces separable, category-aligned directions in the residual stream, which we extract and use to construct categorical steering vectors with a lightweight probe that determines whether to steer toward or away from refusal during inference. In addition, we introduce a learned low-rank combination that mixes these category directions in a whitened, orthonormal steering basis, resulting in a single controllable intervention under activation-space anisotropy, and show that this intervention is transferable across same-architecture model variants without additional training. Across benchmarks, both categorical steering vectors and the low-rank combination consistently reduce over-refusals on benign prompts while increasing refusal rates on harmful prompts, highlighting their utility for multi-category refusal control.

VLS: Steering Pretrained Robot Policies via Vision-Language Models

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a limitation of imitation learning under train-test shifts, where action generation is tightly coupled to training-specific spatial configurations and task specifications. Retraining or fine-tuning to address these failures is costly and conceptually misaligned, as the required behaviors already exist but cannot be selectively adapted at test time. We propose Vision-Language Steering (VLS), a training-free framework for inference-time adaptation of frozen generative robot policies. VLS treats adaptation as an inference-time control problem, steering the sampling process of a pretrained diffusion or flow-matching policy in response to out-of-distribution observation-language inputs without modifying policy parameters. By leveraging vision-language models to synthesize trajectory-differentiable reward functions, VLS guides denoising toward action trajectories that satisfy test-time spatial and task requirements. Across simulation and real-world evaluations, VLS consistently outperforms prior steering methods, achieving a 31% improvement on CALVIN and a 13% gain on LIBERO-PRO. Real-world deployment on a Franka robot further demonstrates robust inference-time adaptation under test-time spatial and semantic shifts. Project page: https://vision-language-steering.github.io/webpage/