Event-Conditioned Diagnostics of Kinematic, Contact, and Object-Permanence Structure in Passive Object-State World Models
World models can predict future physical states, but prediction accuracy alone does not explain how physical information is organized and used inside their latent dynamics. We introduce a controlled diagnostic protocol for studying event-conditioned latent physical structure in passive object-state world models. The protocol separates three questions: whether event-regime information is readable, whether event context changes the relative emphasis of kinematic-, contact-, and object-permanence-related readouts, and whether suppressing readout-aligned directions affects prediction. Using a balanced controlled-generator dataset with free-motion, collision, and occlusion events, we evaluate ...
| Authors | Yang Liu, Yuming Chen |
|---|---|
| Primary category | cs.RO |
| Published | 26 June 2026 |
| Last updated at source | 22 August 2026 |
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