Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: We examine how closely pretrained LeWorldModel (LeWM) reproduces the effects of small action changes. Using matched simulator and model responses, we measure action sensitivity with Gram matrices at three perturbation scales. Across nearly ...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Offline goal-conditioned reinforcement learning enables skill acquisition by reaching any goal from any state without dense rewards. Model-based methods allow for planning by scaling test-time compute to solve complex tasks. Combining both ...
Authors: Principal Research Authors • Zenodo (CERN European Organization for Nuclear Research)
Evidence Takeaway: Latent world models trained only on normal gameplay are an appealing, label-free source of "surprise" for glitch detection. This article extends our conference diagnostic study, which found that a LeWorldModel-style JEPA trained from scratc...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: How do we tell a world model what information to preserve? We study this question through the lens of spectral representation learning. We introduce SpecWM, a JEPA framework that explicitly specifies desired relationships between observatio...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Many applications of physical AI run within finite or closed physical worlds with a limited set of physical laws governing object behavior. Examples include robots working in a warehouse and agents moving around in a video game. In order to...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Predictive world models provide compact visual representations for control. Control requires a latent geometry aligned with temporal reachability rather than predictive similarity alone. We introduce Directed Temporal Representations for Co...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Latent world models based on Joint-Embedding Predictive Architecture (JEPA) are deterministic by design. While successful in fully observable scenarios, this paradigm breaks down when past observations and actions lead to multiple plausible...
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: The component that dominates a latent world model's prediction error need not be the one whose repair most improves action selection. We show this by comparing action sequences from identical physical starts and separating endpoint error in...
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • Preprints.org
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • Preprints.org
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.
2026Peer-Reviewed Empirical
Authors: Principal Research Authors • arXiv (Cornell University)
Evidence Takeaway: Peer-reviewed primary research establishing mechanism.