SOURCE-LINKED INTELLIGENCE
Memory That Changes Action Is Not Memory That Guides It: Counterfactual Auditing of History-Conditioned Robot Policies
A robot returning a block to its origin tray may encounter two task-consistent pasts that reconverge to the same current input but warrant different actions. Yet memory-policy evaluations often rely on task success or action change under memory perturbation, neither of which establishes that memory guides the decision. We propose the \textbf{Counterfactual Memory Audit (CMA)}, an evaluation protocol that crosses two histories at a verified-identical present, queries a frozen policy under common randomness, and evaluates each saved action under both pasts. This separates memory sensitivity, war
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-23T02:31:53.000Z
First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.