Part 1 Missing Content Report
The published Substack post at https://aheadofrobotics.substack.com/p/why-robots-keep-crashing-into-walls is severely truncated.
What’s Published (from Substack snapshot)
Only these sections made it through: 1. ✅ Introduction (3 paragraphs) 2. ✅ TL;DR callout 3. ✅ The Multimodality Problem (partial) 4. ✅ The Averaging Disaster callout 5. ✅ Enter Diffusion Policy (partial) 6. ✅ What’s Next 7. ✅ References
Images present: 2 of 6 - ✅ multimodality-problem.png - ✅ policy-representations.png
What’s MISSING (~80% of content)
Missing Sections
| Section | Type |
|---|---|
| Explicit Policies (And Why They Fail) | H2 + content |
| What About Mixture Models? | H3 + content |
| Implicit Policies | H3 + content |
| Intuition: From Images to Actions | Callout |
| Why Diffusion Handles Multimodality | H3 + content |
| What is Langevin Dynamics? | Collapsed callout |
| The Diffusion Policy Formulation | H2 + content |
| Forward Process (Training) | H3 + equations |
| Reverse Process (Inference) | H3 + equations |
| Derivation: Where Does This Equation Come From? | Collapsed callout |
| Intuition: What the Network Learns | Callout |
| Training Objective | H3 + equations |
| Action Chunking: Predicting Sequences | H2 + content |
| The Compounding Error Problem | H3 + content |
| Compounding Errors in Imitation Learning | Callout |
| The Idle Action Problem | H3 + content |
| The Three Horizons | H3 + content |
| Receding Horizon Control | H3 + code block |
| Intuition: GPS Navigation | Callout |
Missing Images
- ❌ teaser.svg
- ❌ diffusion-denoising.png
- ❌ action-chunking.png
Missing Video
- ❌ multimodal-demo.mp4
Root Cause
This is the Substack paste limitation bug - when pasting long posts with many callouts, Substack silently drops content after ~5-6 callouts.
Fix Required
The post needs to be completely re-published using the chunked paste workaround:
- Open the Substack editor
- Delete all content
- Paste the content in 3-4 chunks, saving between each
- Upload all images manually
- Verify all sections are present before publishing
See /substack-publish skill for the detailed chunked paste procedure.