Finite-Sample Metric Non-Collapse for Geometrically Supervised Latent World Models in Control

Abstract

We establish a finite-sample learning-to-control theory for geometrically supervised latent models of nonlinear deterministic systems. Geometric supervision is used only during training: simulator state, proprioception, or state estimates with independently validated metric and directional error bounds supply observable-state distances and tangent directions, while deployment remains observation- and action-conditioned. We introduce an encoder-only local--global metric hinge that enforces directional resolution and separated-state discrimination. Under regular observable-factor, coverage, finite-capacity approximation, and uniform $C^{1,1}$ hypotheses, a computable one-sided regularization regime has a strong selection property: with high probability, every approximate empirical minimizer is simultaneously pointwise co-Lipschitz and uniformly approximately semiconjugate to the controlled dynamics. Approximation, sampling, and optimization errors remain explicit and separate. Norm-constrained tensor-product B-spline classes constructively realize the approximation hypotheses, and the interpolation exponent converting mean residual control into a uniform bound is sharp. A modular deterministic corollary transfers the learned certificates to trajectory, finite-horizon cost, learned-cost-head, and optimizer guarantees, while a validated finite-net result enables sharper model-specific certification. Controlled experiments isolate collapse and folding, quantify the analytic certificate's reserve, and demonstrate the control benefit of restored metric resolution. The principal contribution is a complete finite-sample implication from approximate empirical optimization to metric faithfulness, uniform controlled dynamics, and reliable planning for the same learned model.