Robotics paper index

Graph Machine: Towards Better Pretraining via Edges

2026-09-02 · arXiv: 2609.02881

One-line summary

A robotics research paper on Graph Machine: Towards Better Pretraining via Edges.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

We introduce the Graph Machine (GM), an architecture that maintains an $O(n)$-sized state and accesses it through sparse, dynamic routing. Unlike methods with fixed-size states or sparse but static routing, GM preserves $O(n)$ complexity in its sparse layers without restricting the potentially accessible state size to $O(1)$. Instead, GM uses edges - pointer-like objects updated differentiably by a referral mechanism resembling pointer chasing. We replace 75% of the dense Transformer layers in Qwen3-0.6B with GM sparse layers and pretrain from scratch on 15.7B tokens. With only 2 of 4,096 tokens retrieved per KV head in each sparse layer, loss degrades only slightly; with 4, the best model marginally improves loss.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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