When Does Depth Survive Composition? Compute--Quality Regimes in Latent World Models
Abstract
Adaptive-compute world models -- early-exit or mixture-of-depths predictors that spend variable depth per step -- assume depth buys better predictions and can be routed adaptively. In autoregressive rollouts, the first assumption requires depth's per-step precision to survive composition. We test this with a pre-registered instrument, the shallow penalty , across nine DeepMind Control tasks under matched single-step () and multi-step () training, three seeds each. We find three regimes: on 6/9 tasks depth helps rollouts (intrinsic, up to ), on 2/9 the shallow exits beat the full stack (inversion, down to ), and one is flat. The robust inversion (cheetah) is not a property of the dynamics but is created by training: an ablation supervising early exits only at the first rollout step erases it (, , ), while an intrinsic-tradeoff task is unaffected -- a double dissociation we call the routability catch-22, since the supervision that makes exits routable is what trains them to out-roll the full stack. The regime is partly predictable a priori: observation/action dimensionality and one-step model error correlate with at (). Inside a CEM planner, 's sign predicts whether planning benefits from depth, most sharply on the inversion task, where shallow planning beats deep. Finally, three cautions: a task's regime depends on the metric space, the rollout horizon, and the encoder. All thresholds and gates were fixed before the compute campaign, including a pre-registered negative for the hypothesis that motivated the study.
Cite
@article{arxiv.2607.10203,
title = {When Does Depth Survive Composition? Compute--Quality Regimes in Latent World Models},
author = {Achyuthan Sivasankar},
journal= {arXiv preprint arXiv:2607.10203},
year = {2026}
}
Comments
15 pages, 9 figures, 2 tables