I wrote this as a conceptual architecture piece, not an empirical paper.

The core claim is that many failures in embodied AI and agent systems come from missing a baseline regulation layer beneath planning/learning — relying on correction alone leads to cascades under load.

I tried to keep it concrete with design patterns rather than metaphors. Curious how people here think about this relative to whole-body control, passivity, or active inference.

That was a pleasure to watch :) thank you for sharing.