CausGround Causal Interaction Grounding for Adaptive Embodied Planning paper:

把动作的前提和结果单独记下来，失败后就有东西可核对了。还想看环境变了、旧规则不再成立时，系统怎么标记冲突并更新经验。

Causal grounding is the missing piece in most embodied plans: correlation lets a robot repeat a demo, but only a causal model lets it recover when the world changes. The question is how much of that model can be learned from interaction alone, without hand-built rules.