Seven Sources of Physical AI Capability Formation

arXiv cs.AISeptember 10, 2026en

arXiv:2609.09627v1 Announce Type: new Abstract: Capabilities relevant to Physical AI can arise from materially different formation histories, yet existing taxonomies organized by morphology, architecture, learning algorithm, task, or domain do not directly answer what gives rise to a capability. We define a capability-formation source as a factor materially contributing to capability formation, distinct from components or construction steps. We identify seven non-exclusive sources: Recorded-Experience (RE), Predictive-Modeling (PM), Evaluative-Interaction (EI), Surrogate-Environment (SE), Mechanism-Grounded (MG), Embodied-Coupling (EC), and Evolution-Driven (ED) Formation. Using reconstructi

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