Action Atlas
Collection
SAEs, concepts, trajectories, and activations for six VLAs from the Action Atlas study. Explorer: action-atlas.com • 13 items • Updated
Datasets:
Tasks:
Feature Extraction
Languages:
English
Size:
1K<n<10K
Tags:
mechanistic-interpretability
sparse-autoencoder
vision-language-action
robotics
interpretability
groot
License:
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to number in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Action Atlas: GR00T N1.5 sparse autoencoders and concepts
Sparse autoencoders (SAEs) and identified concepts for GR00T N1.5, part of the Action Atlas release accompanying the paper on cross-task activation injection in vision-language-action models. The interactive explorer is at https://action-atlas.com.
What is here
saes/TopK SAEs (k=64, 8x expansion) over the GR00T N1.5 (diffusion-transformer expert + Eagle VLM), DiT/Eagle/VL-self-attention pathways. Arms present: per-token 32. Per-token is the primary release.concepts/the concept-to-feature index (1 file(s)): per (pathway, layer), the SAE feature indices that score for each manipulation concept, with Cohen's d and frequency.videos/the trajectory-to-video linkage: 40 curated baseline rollouts and 19530 concept-ablation rollouts, each pointing to its public Tigris URL with suite, task, and success.manifest.jsonlone fully labelled row per artifact (type, model, pooling, pathway, layer, dims, k, metrics, sha256), andloader.pya reference loader.
Pathways: dit, eagle, vl_sa. Environments: LIBERO.
Loading
from safetensors.torch import load_file, safe_open
sae = load_file("saes/per_token/sae_layer0.safetensors") # encoder/decoder weights and biases
with safe_open("saes/per_token/sae_layer0.safetensors", framework="pt") as f:
meta = f.metadata() # model, pooling, pathway, layer, d_in, d_sae, k
See loader.py and REPRODUCIBILITY.md for the activation hook placement and training configuration.
Counts
Per-token SAEs released: 32. All SAE arms: per-token 32.
License and attribution
The SAE weights and derived artifacts in this repository are released under CC-BY-4.0 as interpretability tools. The underlying model weights (NVIDIA GR00T N1.5 weights (per NVIDIA license)) retain their own upstream licenses and are not redistributed here.
Citation
@inproceedings{actionatlas2026,
title = {Action Atlas: mechanistic interpretability of vision-language-action models},
booktitle = {NeurIPS},
year = {2026}
}
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