Related papers: Emergent Semantic Representations in World Models …

World models compress rich sensory streams into compact latent codes that anticipate future observations. We let separate agents acquire such models from distinct viewpoints of the same environment without any parameter sharing or…

Sparse Autoencoders (SAEs) have emerged as a predominant tool in mechanistic interpretability, aiming to identify interpretable monosemantic features. However, how does sparse encoding organize the representations of activation vector from…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

The capacity of an embodied agent to understand, predict, and interact with its environment is fundamentally contingent on an internal world model. This paper introduces a novel framework for investigating the formation and adaptation of…

As autonomous systems are increasingly deployed in open and uncertain settings, there is a growing need for trustworthy world models that can reliably predict future high-dimensional observations. The learned latent representations in world…

Latent representations learned by neural networks often exhibit semantic structure, where concept similarity is reflected by geometric proximity in embedding space. However, comparing such spaces across models remains difficult: changes in…

Spatial reasoning in partially observable environments has often been approached through passive predictive models, yet theories of embodied cognition suggest that genuinely useful representations arise only when perception is tightly…

We investigate how symmetries present in datasets affect the structure of the latent space learned by Variational Autoencoders (VAEs). By training VAEs on data originating from simple mechanical systems and particle collisions, we analyze…

Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical work suggests that the concept of space…

World model-based policy evaluation is a practical proxy for testing real-world robot control by rolling out candidate actions in action-conditioned video diffusion models. As these models increasingly adopt latent diffusion modeling (LDM),…

Large language models (LLMs) have demonstrated emergent abilities across diverse tasks, raising the question of whether they acquire internal world models. In this work, we investigate whether LLMs implicitly encode linear spatial world…

Cognitive scientists believe adaptable intelligent agents like humans perform reasoning through learned causal mental simulations of agents and environments. The problem of learning such simulations is called predictive world modeling.…

We study the problem of self-supervised structured representation learning using autoencoders for downstream tasks such as generative modeling. Unlike most methods which rely on matching an arbitrary, relatively unstructured, prior…

We outline a possible theoretical framework for the quantitative modeling of networked embodied cognitive systems. We notice that: 1) information self structuring through sensory-motor coordination does not deterministically occur in Rn…

Vision Language Action models (VLAs) trained with policy-based reinforcement learning (RL) encode complex behaviors without explicitly modeling environmental dynamics. However, it remains unclear whether VLAs implicitly learn world models,…

Recent work has shown that transformer-based language models learn rich geometric structure in their embedding spaces. In this work, we investigate whether sentence embeddings exhibit structured geometric organization aligned with…

Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure…

Integrating compositional and symbolic properties into current distributional semantic spaces can enhance the interpretability, controllability, compositionality, and generalisation capabilities of Transformer-based auto-regressive language…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Can we build accurate world models out of large language models (LLMs)? How can world models benefit LLM agents? The gap between the prior knowledge of LLMs and the specified environment's dynamics usually bottlenecks LLMs' performance as…