4 papers
When Low Prediction Error Misleads Planning: Diagnosing Representation, Dynamics, and Decision Failures in Latent World Models
Rui Min, Xianyao Li, Fang Xu +1
The component that dominates a latent world model's prediction error need not be the one whose repair most improves action selection. We show this by comparing action sequences fro…
Nudge Before You Push: Physics-Aware Navigation via Tactile Probing
Xianyao Li, Fang Xu, Ruitong Tian +4
Visually identical containers can conceal loads that require different handling decisions. We present TANav, which uses a brief nudge to measure push resistance for navigation unde…
Same World, Different Knowledge: When Isolated Audits Misjudge World-Model Repairs
Rui Min, Xianyao Li, Fang Xu +2
A repair favored under an isolated input fault can be inferior when deployed modules share the faulty information. We introduce an information-interface audit for world models, dis…
DreamLedger: Where to Refuse World-Model Imagination Using Execution-Settled Credit
Xianyao Li, Ruitong Tian, Rui Min +2
World-model predictions inform robot actions, yet instantaneous reliability signals do not retain the outcomes of comparable past predictions. DreamLedger registers consumed predic…