MIPS32® Architecture For Programmers Volume II: The MIPS32® Instruction Set

The terms UNPREDICTABLE and UNDEFINED are used throughout this book to describe the behavior of the
processor in certain cases. UNDEFINED behavior or operations can occur only as the result of executing instructions in a privileged mode (i.e., in Kernel Mode or Debug Mode, or with the CP0 usable bit set in the Status register).
Unprivileged software can never cause UNDEFINED behavior or operations. Conversely, both privileged and
unprivileged software can cause UNPREDICTABLE results or operations.