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arXiv · 2611.00155

From Concepts to Actual Causes: Toward Closing the Concept-Malfunction Gap in Robot Foundation Models

Gihyuk Ko
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Abstract

Post-incident analysis of a robot foundation model poses a singular causal question: which internal components caused this failure, and to what degree? Mechanistic interpretability (MI), however, establishes general causal claims by decoding the concepts a policy has learned, yet knowing which concepts are encoded is insufficient for identifying the actual cause of a specific incident. In this position paper, we analyze this concept-malfunction gap by posing fault isolation in the framework of actual causality. Specifically, we formalize a fault-isolation query as a tuple of intervened internal components, counterfactual values, contingencies, and read-outs, and lay out conditions for it to be well-specified. Through this lens, we identify shortcomings of current MI approaches: they assume fixed contingencies and read out only immediate effects, letting backups obscure actual causes. We demonstrate on a toy example that these shortcomings can lead to conflicting verdicts. Lastly, based on the well-specification conditions, we outline four open research tasks toward closing the gap.

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Gihyuk Ko. 2026-10-30. From Concepts to Actual Causes: Toward Closing the Concept-Malfunction Gap in Robot Foundation Models. https://arxiv.org/abs/2611.00155

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