arXiv AI By Luke Beddow, George Mavroghenis, Rodrigo Chacon Quesada, Kamil Dreczkowski, Cong Sun, Jiankai Wang, Oscar Kwong-Fai Pang, Antoine Cully

Adaptive World-Models for Anomaly Recognition (AWARE): A Framework for Robot Dynamics Prediction and Introspection

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The paper introduces AWARE, a world‑model framework that detects anomalies in robotic systems using only external camera data for dynamics estimation and state prediction. Tested on 240 real‑world crane trajectories, AWARE outperforms the best baseline by 26% in anomaly classification under noisy, camera‑only conditions. It also decodes dynamics parameters to pinpoint fault sources, achieving 88% accuracy in localizing motor degradation.

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