Detecting Silent Action-Interface Mismatch with Calibrated Relational World Models

Rui Zhu, Xurui Li, Haixu Tang

A robot action can satisfy shape and range constraints yet carry the wrong semantics: axes may be permuted, signs inverted, rotations rescaled, or gripper polarity reversed. We study learned state-action-effect relations as offline contracts for detecting these mismatches and ranking their likely fields. Clean held-out transitions calibrate alarms; a fixed inverse vocabulary supports closed-set localization. On ten LIBERO Spatial tasks comprising 432 source episodes, a capacity-controlled comparison at 2.5% empirical clean false-positive rate gives 46.1% recall for a ridge forward residual, 61.0% for a four-component joint Gaussian mixture, and 65.7% for the exact conditional of that same mixture. The joint score retains a 14.9 percentage-point advantage over ridge, while conditioning improves recall by a further 4.7 points. Joint scoring instead has higher localization: 95.8% versus 94.6%. These matched-rate comparisons are retrospective diagnostics, not deployment calibration guarantees. Earlier Object/Goal results broaden tasks within the LIBERO convention; DROID, all three HYDRA tasks, short temporal faults, small offsets, exact repair, and simulated mitigation fail their…