# Learning Robust Intervention Representations with Delta Embeddings

arXiv: https://arxiv.org/abs/2508.04492 · HTML: https://mlsanity.com/paper/2508.04492/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 56 of its 69 references that are in the map.
- First posted on arXiv 6 Aug 2025.

## Builds on (most cited first, 30 of 56)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Quo Vadis, Action Recognition? A New Model and the Kinetics Dataset](https://mlsanity.com/paper/1705.07750/) (2017)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Supervised Contrastive Learning](https://mlsanity.com/paper/2004.11362/) (2020)
- [Shortcut Learning in Deep Neural Networks](https://mlsanity.com/paper/2004.07780/) (2020)
- [SlowFast Networks for Video Recognition](https://mlsanity.com/paper/1812.03982/) (2018)
- [The Many Faces of Robustness: A Critical Analysis of Out-of-Distribution Generalization](https://mlsanity.com/paper/2006.16241/) (2020)
- [ViViT: A Video Vision Transformer](https://mlsanity.com/paper/2103.15691/) (2021)
- [Contrastive Multiview Coding](https://mlsanity.com/paper/1906.05849/) (2019)
- [Object-Centric Learning with Slot Attention](https://mlsanity.com/paper/2006.15055/) (2020)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [GroupViT: Semantic Segmentation Emerges from Text Supervision](https://mlsanity.com/paper/2202.11094/) (2022)
- [Variational Autoencoders and Nonlinear ICA: A Unifying Framework](https://mlsanity.com/paper/1907.04809/) (2019)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [Self-Supervised Learning with Data Augmentations Provably Isolates Content from Style](https://mlsanity.com/paper/2106.04619/) (2021)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Weakly-Supervised Disentanglement Without Compromises](https://mlsanity.com/paper/2002.02886/) (2020)
- [Contrastive Learning Inverts the Data Generating Process](https://mlsanity.com/paper/2102.08850/) (2021)
- [Bridging the Gap to Real-World Object-Centric Learning](https://mlsanity.com/paper/2209.14860/) (2022)
- [Learning Robust Representations via Multi-View Information Bottleneck](https://mlsanity.com/paper/2002.07017/) (2020)
- [Disentanglement via Mechanism Sparsity Regularization: A New Principle for Nonlinear ICA](https://mlsanity.com/paper/2107.10098/) (2021)
- [Interventional Causal Representation Learning](https://mlsanity.com/paper/2209.11924/) (2022)
- [Weakly supervised causal representation learning](https://mlsanity.com/paper/2203.16437/) (2022)

## Abstract (arXiv)

Causal representation learning has attracted significant research interest during the past few years, as a means for improving model generalization and robustness. Causal representations of interventional image pairs (also called ``actionable counterfactuals'' in the literature), have the property that only variables corresponding to scene elements affected by the intervention / action are changed between the start state and the end state. While most work in this area has focused on identifying and representing the variables of the scene under a causal model, fewer efforts have focused on representations of the interventions themselves. In this work, we show that an effective strategy for improving out of distribution (OOD) robustness is to focus on the representation of actionable counterfactuals in the latent space. Specifically, we propose that an intervention can be represented by a Causal Delta Embedding that is invariant to the visual scene and sparse in terms of the causal variables it affects. Leveraging this insight, we propose a method for learning causal representations from image pairs, without any additional supervision. Experiments in the Causal Triplet challenge demonstrate that Causal Delta Embeddings are highly effective in OOD settings, significantly exceeding baseline performance in both synthetic and real-world benchmarks.