Let $L\subseteqΣ^*$ and fix a morphism $h:Σ^*\to M$ into a finite monoid. We study exact factorization and canonical presentation in the relative syntactic congruence $θ_{L,h}:=\equiv_L\cap\ker h$. We separate unique factorization from finite direct presentation. An exhaustively computer-checked $36$-element quotient has a unique exact prime factorization for every live non-unit class, yet its valid prime-return rules contain an infinite family, so unique factorization does not imply the finite relative presentation property (FRP), even for a finite quotient. We lift the same defect to a nonregular context-free language with an infinite relative quotient and finite prime spectrum. To isolate the obstruction, we introduce the finite-state relative presentation property (FSRP), in which canonical valid right-hand-side languages are represented by finite residual controllers, and prove $\mathrm{FRP}\subsetneq\mathrm{FSRP}$. We then introduce prime-target left-division determinism (PTLD), which implies unique exact factorization, tail exactness, tail determinism, and a quadratic bound on valid rules. A nonregular deterministic context-free example with a finite group observer satisfies PTLD while lying outside every fixed $(k,\ell)$-substitutable class. Finally, for fixed $h$ we give a strong positive-data learner for the canonical PTLD presentation with polynomial-time hypothesis updates and a finite characteristic sample, together with a limit reconstruction of the canonical FSRP controller from weakly behaviorally correct CFG-valued learners.
Compositional analysis of frozen vision encoders should determine both what changed and where it changed. Standard factor probes score these axes separately, however, and can reward multiple operations that reuse the same predicted slot. We call this failure operation laundering. We introduce an injectively aligned leave-one-cell-out protocol over support x operation grids and SO-OPF, a readout that factors cell energy into support salience and a competitive operation posterior. This formulation separates two questions that aggregate scores conflate: whether the carrier composes held-out bindings when the grid is known, and whether that grid can be recovered from flat cell labels. With frozen DINOv3 features, known factorial assignment reaches 0.874 injective accuracy on Shapes3D-Extended and 0.799 on globally image-disjoint COCO; learning the assignment from flat labels reaches 0.769 and 0.762, respectively. Under matched-axis-aware supervision on Shapes3D, the factored carrier improves learned-assignment accuracy from 0.653 to 0.841 over a dense carrier and eliminates its laundering gap. SigLIP2 replicates the COCO separation. A rebuilt MuJoCo substrate exposes a boundary: learned-assignment accuracy is 0.569 with DINOv3 and 0.484 with SigLIP2, with substantial slot collapse. Thus factored readout and injective evaluation recover held-out bindings on two substrates while exposing, rather than hiding, a renderer-specific failure boundary; they do not establish universal recovery from flat labels.
Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2cs.RO cs.LG cs.MA
Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which is a choice that dictates what generalizes, what requires retraining, and what remains entangled. Existing methods span a wide spectrum, from expecting structure to emerge from data scaling, to hand-designing it via hierarchies, skill libraries or learned specializations. In this paper, we study what we argue is the most fundamental factorization in robotics: separating the world from the task. We investigate the conditions under which this factorization is principled. World factors are properties of the embodied system and the environment; they exist independently of intent. Task factors are defined by the task's logic over what the world admits. We formalize this asymmetry through Bayesian model evidence: it aligns with the data-generating process, maintains high likelihood through an analytical world model, and reduces the Occam razor's penalty on task parameters. We instantiate this factorization by pairing AICON, a differentiable graph of recursive estimators and interconnections that is compositional, operates without task-specific data, and propagates cost gradients to actuators, with a compact, learned policy that modulates gradient paths. Gradients serve as the interface between the two factors: they carry world structure through the graph and task structure through costs, enabling low-dimensional learning while preserving structural generalization. We test the world/task factorization across three problems that encompass heterogeneous robots, environments, task logic and sensorimotor modalities. Our framework outperforms end-to-end baselines and analytical heuristics in all settings, generalizes zero-shot to out-of-distribution configurations, and transfers to real hardware without retraining.