Keeping JEPA World Models Plannable When Little of the Frame Moves
Specifying a goal in language rather than as a goal frame is a natural interface for planning with a latent world model, but testing it needs scenes in which language must discriminate between several objects. We build SLIM, a pushing benchmark with several small objects and paired visual and language goals on identical scenes. On SLIM a LeWM world model that solves PushT succeeds on under 1% of trials, although a scripted controller with simulator state solves every tier. Probes locate the failure in the encoder: its latent is nearly action-insensitive, neither pusher nor object positions can be decoded from it, and rollouts are no better than copying the current latent forward. One inve...
| Authors | Florian Strohm, Patrick Wagner, Jannik Schwab et al. |
|---|---|
| Primary category | cs.AI |
| Published | 2 October 2026 |
| Last updated at source | 2 October 2026 |
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