Article

AWARE: A world-model framework that predicts robot dynamics and identifies anomalies using only external cameras

AWARE is a world-model framework that relies solely on external camera monitoring, performing anomaly detection through system dynamics estimation and state prediction without onboard sensors such as motor encoders. On 240 real-world robotic crane trajectories (including payload collisions and motor degradation), its anomaly classification improves by 26% over the strongest baseline; the inferred dynamics parameters can also be decoded to localize the source of faults, achieving 88% accuracy in localizing degrading motors.

Part of the event: AWARE: Predicting Robot Dynamics and Identifying Anomalies Using Only External Cameras

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