发表机构
University of Genoa（热那亚大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文研究具身智能体间表征对齐，提出关系充分性概念，并推导所需锚点数量的下界，为交互任务提供对齐停止条件。
AI 中文摘要
与同一物理过程交互的具身智能体可能维持异质、异步且观察者相对的表征。我们并非假设这些表征应始终全局对齐，而是研究其中哪些区分必须被实际解决以实现连贯交互。我们通过关系充分性形式化该问题：一个交互特定的关系证据图定义了比较未解决的表征歧义，当每个残余歧义纤维位于交互等价类内时，充分性成立。当该条件不成立时，额外的感觉运动锚点必须精确分离可能改变交互相关结果的歧义。对于光滑系统，我们推导了所需独立标量锚点数量的局部一阶下界，该下界由对关系证据不可见但对交互相关图可见的方向维度给出。我们在异步交接场景的两种变体中实例化该理论，这两种变体共享相同的观察者智能体、表征、传输和关系证据。相对同步不需要额外锚点，而绝对时间交接恰好需要一个。因此，该分析提供了表征对齐的任务相关停止条件：当残余分歧相对于交互不变时，无需消除它。
英文摘要
Embodied agents interacting with the same physical process may maintain heterogeneous, asynchronous, and observer-relative representations. Rather than assuming that such representations should always be globally aligned, we investigate which distinctions among them must actually be resolved for coherent interaction. We formalize this question through relational sufficiency: an interaction-specific relational-evidence map defines the representational ambiguity left unresolved by comparison, and sufficiency holds when each residual ambiguity fiber lies within an interaction-equivalence class. When this condition fails, additional sensorimotor anchors must separate precisely the ambiguities that can change the interaction-relevant outcome. For smooth systems, we derive a local first-order lower bound on the number of inde- pendent scalar anchors required, given by the dimension of directions that are invisible to relational evidence but visible to the interaction-relevant map. We instantiate the theory in two variants of an asynchronous hand-off scenario that share the same observer agents, representations, transports, and relational evidence. Relative synchronization requires no additional anchor, whereas hand-off at an absolute time requires exactly one. The analysis there- fore provides a task-relative stopping condition for representational alignment: residual disagreement need not be eliminated when it is invariant with respect to the interaction.
