E10 / Bounded recovery and cooldown

01 / QUESTION

Twelve rollouts compare unlimited recovery, a two-resume cap and a 400 ms cooldown, separating bounded behavior from task completion.

METHOD

Four communication conditions × three budgets: 12 rollouts with the same freshness gate and 500 ms transfer replan.

RESULT

Under repeated gaps, unlimited resumes six times and finishes; capped policies resume twice and abort.

OBSERVATIONS

After 400 ms cooldown another stop occurs 40 ms later; permanent silence triggers the 800 ms deadline.

CONCLUSION

Budgets bound work, not completion rate or future communication health.

LIMITATIONS

Transfer-only monitoring; absolute faults interact with progress. Abort holds targets and does not integrate E8 exits.

REPRODUCE

See the pinned repository for code, frozen parameters, raw results and independent auditing.

1. Engineering cases

   Embodied AI X: why can a recovery budget stop a recoverable task?

   Twelve rollouts compare unlimited recovery, a two-resume cap and a 400 ms cooldown, separating bounded behavior from task completion.

   2026-10-039 MINPublished
2. PROJECT / 003

   Hohoo Embodied Experiments

   Two MuJoCo teaching scenes—pick-and-place and planar force control—record contracts, tuning, clearance and delayed-feedback outcomes, including failures.

   2026-09-28Experiment