Can Predicted Dynamics Exist in the Physical World?

Title:Can Predicted Dynamics Exist in the Physical World?

Abstract:Can learned state-action proposals exist in the physical world? To filter infeasible commands before execution, policies are often wrapped in a runtime monitor. However, aggregating diverse diagnostic signals obscures whether a proposal violates dynamic transitions or merely departs from recorded behavior. We formalize this prediction-control interface and prove that the all-pairs displacement term is redundant within a max-aggregated composite. We evaluate these monitors on 700 nominal and 5,250 synthetically perturbed 32-transition PushT windows, monitoring only planar pusher positions and goals. A simple transition-RMSE baseline (AUC 0.982) outperforms a heterogeneous max-aggregated monitor (AUC 0.957). We conclude that physical transition checks must be strictly separated from empirical logs.

Robotics (cs.RO); Artificial Intelligence (cs.AI)

arXiv:2606.00089 [cs.RO]

(or arXiv:2606.00089v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.00089 Focus to learn more arXiv-issued DOI via DataCite

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