# When Is Test-Time Physical Diagnosis Effective? Six Ordered Empirical Conditions and a Failure Analysis of Frozen Policies

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kd4ov00vwe7d6ea6jnmg70779
- Original: https://arxiv.org/abs/2609.22299

## Summary

Zhengshu Zhang proposes in an arXiv paper that for diagnosis to improve behavior when a robot faces unfamiliar physical conditions, six ordered empirical conditions must hold: a meaningful reference, identifiability of the physical condition, use of the acquired evidence, decision value, selection value relative to a fixed alternative, and safe realization.