HUMANOID-NATIVE PREDICTIVE ACTUATION VALIDATION USING WHOLE-BODY RUNTIME STATE

A humanoid robot intercepts a candidate humanoid action before actuator-command dispatch and obtains whole-body runtime state including body configuration and a support, contact, environment, object, human-relative, or actuator state. A predictive actuation validator predicts future physical consequences of executing the candidate action over an action-dependent prediction horizon and evaluates the consequences against humanoid-native criteria including stability, support contact, self-collision, human clearance, actuator limits, terrain contact, or object retention. The validator may dynamically select or configure a forward-looking evaluator according to participating body regions, support phase, contact schedule, payload, uncertainty, or risk. More than one evaluator type may predict different consequence classes for a common action. A release decision releases, modifies, stages, decomposes, reroutes, or rejects the action. Motion of one body region may be validated based on a predicted consequence at another body region, enabling whole-body, cross-region predictive evaluation before physical execution.