Predictive Validation: TrustBoundary

1. Candidate Action Validation - DOR-031, 032

Evaluates AI-generated actions before physical execution and permits, modifies, delays, decomposes, or blocks unsafe proposals.

2. World-Model and Counterfactual Validation - DOR-130P

Predicts what is likely to happen if an action is executed and compares the proposed action with safer alternatives or a null action.

3. Collision and Trajectory Validation

Evaluates predicted paths, clearances, velocities, forces, reachability, obstacles, and collision consequences.

4. Balance and Locomotion Validation - DOR-044

Evaluates footsteps, terrain contact, friction, support area, center of pressure, balance margin, load transfer, and gait stability.

5. Dexterous Manipulation and Tactile Validation - DOR-045

Evaluates grasp stability, slip, contact pressure, object deformation, fracture risk, tool alignment, insertion, and hand-object interaction.

6. Whole-Body and Multi-Limb Validation

Evaluates whether coordinated movements of the hands, arms, torso, legs, and feet remain kinematically and dynamically compatible.

7. Human and Public-Space Validation

Evaluates proximity, contact, personal space, crowd movement, vulnerable persons, shared-space rules, and human-interaction risk.

8. Authority, Identity, and Mission Validation - DOR=060

Confirms ownership, operator authority, robot identity, assigned role, mission scope, custody state, and permission to perform the action.

9. Capability, Resource, and System-Health Validation

Evaluates available power, compute, thermal state, sensor health, actuator condition, payload capability, communications, and degraded-operation limits.

10. Infrastructure and Environmental Validation

Evaluates chargers, doors, elevators, workcells, roads, sidewalks, facilities, terrain, weather, hazards, and other external operating conditions.