arXiv Machine Learning
Sep 7

Spectral-Target Physical Latent Structuring for JEPA-Style World Models

The paper introduces a lightweight Fourier auxiliary head to enforce physically-informed structuring of latent states in JEPA-style world models, addressing a newly identified failure mode called physical representation laziness that hampers planning in dynamic environments. Experiments show that this auxiliary supervision improves planning success rates, enhances latent space correlations with key physical properties, and boosts data efficiency, even when the baseline model does not exhibit laziness.

By Penghao Zhu, Salvatore Penachio, Kaustav Mukherjee, Aneesh Jonelagadda