Xian-Yao Li

DreamLedger: Execution-Settled Credit Files for World-Model Imagination in Robot Decision Loops

DreamLedger: Where to Refuse World-Model Imagination Using Execution-Settled Credit

World-model predictions inform robot actions, yet instantaneous reliability signals do not retain the outcomes of comparable past predictions. DreamLedger registers consumed predictions as claims, settles them against execution outcomes, and uses persistent execution history from comparable operating conditions, region...

From Wearable Interfaces to Dexterous Policies: Contact Shifts and Tactile Representations

Unlike conventional teleoperation, wearable interfaces allow operators to collect dexterous demonstrations through their own hand motions while directly interacting with task objects. This direct interaction reduces dependence on the target robot during collection, but it also makes the collection hardware part of the...

Same World, Different Knowledge: When Isolated Audits Misjudge World-Model Repairs

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, distinguishing fidelity gaps, where exact inputs become estimates, from availability gaps, where inputs are missing. Fixed-weight interventions...

When Low Prediction Error Misleads Planning: Diagnosing Representation, Dynamics, and Decision Failures in Latent World Models

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 from identical physical starts and separating endpoint error into a candidate-pool center and action-relative responses. Across four model fami...

Minimal Recurrent Behavioral Memory for Imitation under Partial Observability

What is the least recurrent memory needed to reproduce a specified expert under partial observability? The instantaneous requirement is the conditional entropy of the expert's behavioral quotient, but recurrence must also preserve distinctions that future observations will not restore before use. We characterize this m...