Episode 05 / Written companion
Customer recording trackBuilding the history encoder
Causal timestamps, held-out arms and the right observation channels matter as much as the network.
Read the companion now. The recording is forthcoming; “Customer” identifies its planned release track.
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Put the idea to work
Answer B, built
Train one history encoder on four objectives and let a linear probe judge them. Objective B predicts how the real arm departs from the nominal model 0.1 s ahead, and its latent should reveal m/kₜ, the payload mass relative to the torque constant.
Build module 04