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MolmoBot wrist-orientation activations
Cached activations from the action expert of the MolmoBot VLA policy (MolmoSpaces
simulator): mean-pooled 768-d residual stream at transformer block 9, final flow
step. Produced by Goodfire's internal sim_robotics study of wrist-orientation
representation geometry (experiments 21 / 28, June–July 2026); published as the
substrate for the wrist-so2-chart SilicoBench task.
Files
sweeps.npz — physical wrist-rotation sweeps (24,960 rows)
The same scene and pose swept through successive physical rotations about one axis.
| field | shape | meaning |
|---|---|---|
X |
(24960, 768) | float32 activations |
R |
(24960, 3, 3) | end-effector rotation matrix at each step |
house |
(24960,) | scene id |
ep |
(24960,) | episode id |
pose_id |
(24960,) | pose within the episode |
axis_id |
(24960,) | sweep axis: 0 = x, 1 = y, 2 = z (yaw) |
step_k |
(24960,) | order of the sweep steps within a fiber |
A fiber is one (ep, pose_id, axis_id) group ordered by step_k. Static
base-pose captures (axis_id = -1 in the raw study data) are excluded.
natural.npz — in-distribution query cloud (6,555 rows)
Queries from ordinary rollouts in 191 houses; true yaw covers the full ±180°.
| field | shape | meaning |
|---|---|---|
X |
(6555, 768) | float32 activations |
R |
(6555, 3, 3) | end-effector rotation matrix |
house, ep, q |
(6555,) | scene / episode / query ids |
success |
(6555,) | episode success flag |
delta_pairs.npz — raw-space intervention pairs (1,492 rows)
Base/steered activation pairs from a fitted additive raw-space orientation intervention (axis × angle {45°, 90°, 135°, 180°} × sign).
| field | shape | meaning |
|---|---|---|
base, steered |
(1492, 768) | activation before / after the intervention |
axis |
(1492,) | 0 = x, 1 = y, 2 = z |
theta |
(1492,) | signed applied angle, radians |
angle_deg |
(1492,) | unsigned angle, degrees |
quality |
(1492,) | realized intervention quality (angular cosine) |
house, ep, q |
(1492,) | scene / episode / query ids |
Conventions
Wrist yaw: ψ = atan2(R[1,0], R[0,0]) (intrinsic Z-Y-X Euler; z is the yaw axis).
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