Can Predicted Dynamics Exist in the Physical World?
Can learned state-action proposals exist in the physical world? Before executing a proposed action sequence, a robot can inspect empirical variation and disagreement with a learned transition model. However, aggregating these diagnostic signals obscures whether a proposal is inconsistent with the predictor or merely departs from recorded behavior. We formalize this prediction-control interface, separate the scalar trigger from its channel-wise diagnostic log, and establish that an all-pairs displacement term is redundant within a maximum that already contains the corresponding one-step term. We evaluate the monitors on 700 nominal and 5,250 synthetically perturbed 32-transition PushT wind...
| Authors | Barak Or |
|---|---|
| Primary category | cs.RO |
| Published | 23 May 2026 |
| Last updated at source | 27 September 2026 |
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