The thing is, your actions can lead to additional scratches to the cubes, so actions aren’t causally separated from scratches. And the scratches will be visible on future states too, so if your model attempts to predict future states, it will attempt to predict the scratches.
I suspect ultimately one needs to have an explicit bias in favor of modelling large things accurately. Actions can help nail down the size comparisons, but they don’t directly force you to focus on the larger things.
The thing is, your actions can lead to additional scratches to the cubes, so actions aren’t causally separated from scratches. And the scratches will be visible on future states too, so if your model attempts to predict future states, it will attempt to predict the scratches.
I suspect ultimately one needs to have an explicit bias in favor of modelling large things accurately. Actions can help nail down the size comparisons, but they don’t directly force you to focus on the larger things.