Beyond Geometric Closure: Measuring and Diagnosing Mechanical Consistency in Visual Dynamics

Qibin Gu, Yunfeng Yan

Visual accuracy leaves open whether predicted motion obeys dynamics. We introduce a framework for measuring and diagnosing mechanical consistency in visual dynamics. An independent SI audit of rigid closed chains separates geometric admissibility, reaction-free actuator effort, and work--energy balance. Continuous scoring measures progress against fixed engineering targets, while reference replay quantifies measurement error. With three seeds per setting, we evaluate KeyCLD and CON across 343 planar assemblies at 64/256 pixels and V-JEPA + AC and LingBot-VA on 100 shared spatial test assemblies. CON reduces image MSE by 37.6%/37.2% relative to persistence, yet neither planar model attains valid native geometry. At 256 pixels, calibrated RGB replay places forecast errors far above measurement error. With exact states, KeyCLD preserves geometry and RK4 training raises its score from 52.65 to 64.30. In both spatial pathways, CAD/IK reconstruction restores geometry while mean actuator residuals exceed five times the engineering targets. The interventions distinguish gains in visual prediction and geometric admissibility from remaining force and energy errors.