Governed action in simulation
Source: Governed Embodied Action: A Persistent Structural-Mechanics Substrate Supervising an LLM Robot Planner in Simulation
Rule-violating events observed by an independent physics evaluator
Gemma 4 26B local planner · 40 episodes
gpt-5.5 frontier planner · 40 episodes
The same supervisor was evaluated behind two planner classes in a paired, pre-registered simulator study. False intervention was 1/20 on benign twins for each planner.
Boundary: One simulator, two planners, simplified execution and small samples. A language-only probe without typed scene contradiction was not caught. This is not a safety certification.
