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Latent world models predict the consequences of actions, but accurate prediction does not guarantee that latent distance reflects which candidate will execute successfully. We identify a decision-local prediction gap: among the few futures competing for execution, a candidate predicted closer to the goal can produce a...
SR-JEPA is introduced, a point-native JEPA for scene-scale point clouds whose original frozen predictive pathway can be queried at a supplied location and reveals a queryable, compositional 3D predictive state.
It is proved that an unbounded gap between the update maps can coexist with vanishing predictive KL for every fixed finite $K\ge2$ in a stationary symmetric Gaussian HMM, and isolates two missing links between internal update gaps and predictive cost.
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