Traceable World State: A Provenance-Aware State Representation and Deterministic Replay Framework for Robotic Systems

תקציר מקורי באנגליתarXiv:2610.12033v1 Announce Type: cross Abstract: Robotic systems operating over extended tasks must maintain a world state assembled from observations arriving at different times, with varying confidence and potential revisions. Conventional representations emphasize latest estimates, hindering fact provenance, decision reproduction, or execution auditing. We present Traceable World State (TWS), a middleware-neutral semantic representation and reference runtime for provenance-aware robot world state. A TWS snapshot captures entities, relations, observations, confidence, and revision metadata. Validated update operations transform snapshots immutably, ordered updates support deterministic replay, and a canonical SHA-256 hash chain ensures tamper-evident logs. We evaluate TWS through schema