ACPC, a rollout-consistency diagnostic for JEPA world models, bounds perturbation-induced prediction-error and planning-cost changes and, together with IR and SR, identifies checkpoints that stay robust under visual perturbations.
TD-MPC2: Scalable, robust world models for continuous control
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Diagnosing JEPA World Models with Action-Conditioned Predictive Consistency
ACPC, a rollout-consistency diagnostic for JEPA world models, bounds perturbation-induced prediction-error and planning-cost changes and, together with IR and SR, identifies checkpoints that stay robust under visual perturbations.