Mechanistic Tomography: Designed Measurement for Control-Oriented Interpretability

Robust Partial-State Estimation under Concept Shift using Causal Physics Features: Solenoid Position Estimation

Steering Robustness into World Action Models via Mechanistic Interpretability and Optimal Control

World Action Models (WAMs) enable semantically- and physically-informed control but are brittle under distribution shift. In this work, we use mechanistic interpretability to study how robustness-relevant perturbations are represented in WAM activation space. Comparing activations across successful and unsuccessful rollouts, we find some WAM architectures exhibit low-dimensional linear separability for robustness-critical features, while others do not. This motivates the use of contrastive activation directions for training-free WAM steering. We also show that local linearity in WAM activation dynamics enables efficient feedback steering via model-based optimal control, yielding World-Action Linear Quadratic Regulator (WA-LQR), a minimally-invasive reduced-order LQR controller. Via mechanistic evaluations, we predict strong steerability in the Cosmos-Policy and DiT4DiT models but weak steerability in LingBot-VA, consistent with steering intervention results. On Cosmos-Policy and DiT4DiT, WA-LQR generalizes contrastive directions to new tasks and improves robustness to camera, gripper, and visual-noise perturbations over unsteered and prompt steering baselines.

Causal inference for group-contaminated structured outcomes: observable quotients, lossless reduction and exact randomization inference

Structured potential outcomes such as microscopy images may be recorded after an unknown, unit-specific transformation. If that transformation can depend on treatment, covariates or the intrinsic outcome, raw-coordinate analyses may mix biological effects with acquisition geometry. We study the unrestricted observation model X = {\Gamma} . Y(A) and characterize its observable information: a target is uniformly recoverable exactly when it is constant on group orbits, while a Borel maximal invariant retains every measurable invariant target. We then distinguish observability from statistical losslessness. A quotient-faithful reconstruction theorem shows that quotient reduction is sufficient for the full transformed experiment exactly when the conditional law of the raw observation given treatment, covariates and the quotient has a parameter-free version. Conditional Haar contamination on a compact group yields Blackwell equivalence as a special case; it is not imposed in the main model. We also separate independent site-specific product actions from shared diagonal actions and show why componentwise canonicalization can discard relative cross-site information. Under explicit metric and kernel regularity, an approximate-contamination theorem bounds quotient-law Wasserstein error and the induced perturbation of population maximum mean discrepancy. For finite-support multichannel lattice images, we construct a maximal invariant under integer translations and quarter turns, combine its characteristic Gaussian kernel with a complete paired-swap test, and retain the original simulations and RxRx1 HUVEC study. Under the sharp null, the quotient test rejected in 0.052 of simulation replicates; at unit effect strength its power was 0.992. The primary RxRx1 contrast had an enumerated paired-swap p-value of 0.0078.

What Can Latent World Models Know? Physical Parameter Identifiability in Multimodal Predictive Representations

A central premise of latent world models is that predicting the future forces a representation to internalize the physics of its environment. Which physical quantities does a trained latent actually contain, and what decides this? We answer with controlled interventions in POKEWORLD, an interactive environment whose visually identical objects hide mass, drag, and contact stiffness. A certificate-gated protocol first certifies each parameter as recoverable from raw observations, then measures whether it enters the latent, so a null result can be attributed to the objective rather than to the environment. The resulting identifiability map has two organizing mechanisms and one frontier. Inputs limit what can be known, while prediction targets decide what is retained. Stiffness enters the latent only when touch is forecast ($R^2=0.50$, compared with $-0.02$ when the same signal is merely fused into the input), and under single-step prediction a vision-only latent discards even perfectly visible object state. Drag marks the frontier. It carries a recoverability certificate of 0.89 yet plateaus near 0.13 under every deterministic prediction objective we test, while a supervised head on the same trunk reaches 0.45. Parameters whose readout is slow and ratio-type under the sensed coordinates fall outside what these objectives acquire. On RH20T, an input-target factorial across scaling curves reproduces both mechanisms across two robots and 4,258 episodes. Every arm missing information or prediction pressure stays flat over a fivefold data range, and only the full multimodal objective forecasts force beyond a persistence baseline, with held-out gains that grow with scale. Objective structure determines which physical parameters a latent acquires, and additional data improves only the parameters it already acquires.

Reduced-Order Models: The Mother of World Models

It is argued that the outstanding obstacle to deploying world models in systems that cannot fail -- power, thermal, process control -- is not predictive fidelity but verifiability, and a research agenda for physics-grounded, verifiable world models is outlined that unifies the two lineages.

From State Reconstruction to State Interpretation: S2VMO, an Agentic Voxel-Based Digital Twin for Space Habitat Structural Monitoring

Digital twins for space structures can estimate the physical states of systems with real-time data, yet long-term understanding and consistent analysis remain difficult. Current digital twin systems primarily aggregate data for monitoring and simulation, but they require experts to extract further insight, and most focus on state reconstruction and visualization, offering limited support for interpretation and decision-making. This study introduces the S2VMO (Sensor-to-Voxel Multi-Agentic Observatory), a framework that reconstructs structural state through finite element modeling (FEM) from four strain sensors by a two-stage neural surrogate that is stored as a graph of spatially indexed voxels. The shared voxel world model enables agents to identify anomalies, explain structural behavior, and provide inspection-oriented recommendations through natural-language interaction. This extends digital twins beyond passive monitoring toward explainable structural assessment and decision support for future space habitat operations.