Ya-Qin Zhang

On the Identifiability of Controlled World Models

A joint identifiability condition for controlled world models with Gaussian latent states with Gaussian latent states is presented, which consists of two coupled components: representation identifiability and transition identifiability, and it is proved that when this condition holds, minimizing the LeJEPA-style predictive objective can recover both latent states and controlled dynamics in the sense of orthogonal transformation.