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τ₀-WM: candidate tests before execution

VAM makes candidate action chunks, and ACVS predicts outcomes for ranking or optional changes. The selected chunk runs before the system receives fresh observations. The search does not change weights, and prediction cannot certify real contact.

τ₀-WM: candidate tests before executionVAM makes candidate action chunks, and ACVS predicts outcomes for ranking or optional changes. The selected chunk runs before the system receives fresh observations. The search does not change weights, and prediction cannot certify real contact. Read state current state Proposal VAM chunks Predict ACVS outcomes Select rank futures Execute OPTIONAL TEST-TIME SEARCH change candidate chunks fresh observations after execution Search does not change weights.
The author made this test-time mechanism diagram. ACVS predicts outcomes for VAM proposals. Selection or changes occur before execution. The search changes candidate chunks and does not change model weights. Predicted success does not certify real contact. The decisions and playback timing are examples. Open full-size SVG