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Maya a1: Do the Options Read the Model, or Does Their Position? Order Sensitivity in a Non-Autoregressive Decision Model

2026-11-06

Key Takeaway

A robotics research paper on Maya a1: Do the Options Read the Model, or Does Their Position? Order Sensitivity in a Non-Autoregressive Decision Model.

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Article Summary

Laya answers typed multiple-choice questions in one forward pass by scoring a hidden state at one [MASK] marker per option. We re-engineer the checkpoint (421M parameters; a 2-layer option head with no positional tensor; a documented but unused parallel layout) and test whether the answer depends on where an option is listed. Presenting 951 Qwen-verified questions under every cyclic rotation of their options (or six random permutations for 12 options), the released checkpoint changes its answer for 25.8% [22.9-28.7] of questions (19.7% on the 605 English-language items alone); accuracy with the gold option first versus last differs by 10.1 points, and the flips concentrate where the model's own confidence is low (54% versus 8% across confidence terciles). Fine-tuning with Laya's trainer on 2,818 teacher-verified rows with option shuffling cuts the flip rate to 7.2%; the identical rows without shuffling give 11.4%, so shuffling is responsible for 4.2 points of the improvement. A confidence-weighted vote over orderings gives 69.7% against 69.1% for a single base pass at 4.1x the compute. Labels are LLM-made and the test sets are teacher-filtered. We also fine-tune with the authors' parallel layout on the same rows: flip rate 0.5%.

5.0Practicality
7.0Scientific Evidence
4.0Effectiveness

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