# Cognitively Inspired Energy-Based World Models

arXiv: https://arxiv.org/abs/2406.08862 · HTML: https://mlsanity.com/paper/2406.08862/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in World models for language agents, one of 11 directions in World models.
- Builds on 54 of its 91 references that are in the map.
- First posted on arXiv 13 Jun 2024.

## Placed in

- World models / [World models for language agents](https://mlsanity.com/wm/world-models-for-language-agents/)

## Builds on (most cited first, 30 of 54)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Mistral 7B](https://mlsanity.com/paper/2310.06825/) (2023)
- [The Kinetics Human Action Video Dataset](https://mlsanity.com/paper/1705.06950/) (2017)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [The "something something" video database for learning and evaluating visual common sense](https://mlsanity.com/paper/1706.04261/) (2017)
- [RWKV: Reinventing RNNs for the Transformer Era](https://mlsanity.com/paper/2305.13048/) (2023)
- [Retentive Network: A Successor to Transformer for Large Language Models](https://mlsanity.com/paper/2307.08621/) (2023)
- [Textbooks Are All You Need](https://mlsanity.com/paper/2306.11644/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [The Reversal Curse: LLMs trained on "A is B" fail to learn "B is A"](https://mlsanity.com/paper/2309.12288/) (2023)
- [Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Action](https://mlsanity.com/paper/2312.17172/) (2023)
- [How to Train Your Energy-Based Models](https://mlsanity.com/paper/2101.03288/) (2021)
- [Think before you speak: Training Language Models With Pause Tokens](https://mlsanity.com/paper/2310.02226/) (2023)
- [Sequential Modeling Enables Scalable Learning for Large Vision Models](https://mlsanity.com/paper/2312.00785/) (2023)
- [Scaling Autoregressive Video Models](https://mlsanity.com/paper/1906.02634/) (2019)
- [Direct speech-to-speech translation with discrete units](https://mlsanity.com/paper/2107.05604/) (2021)
- [TransDreamer: Reinforcement Learning with Transformer World Models](https://mlsanity.com/paper/2202.09481/) (2022)

## Built on by (most cited first, 1 of 1)

- [Three-in-One World Model: Energy-Based Consistency, Prediction, and Counterfactual Inference for Marketing Intervention](https://mlsanity.com/paper/2605.07199/) (2026)

## Abstract (arXiv)

One of the predominant methods for training world models is autoregressive prediction in the output space of the next element of a sequence. In Natural Language Processing (NLP), this takes the form of Large Language Models (LLMs) predicting the next token; in Computer Vision (CV), this takes the form of autoregressive models predicting the next frame/token/pixel. However, this approach differs from human cognition in several respects. First, human predictions about the future actively influence internal cognitive processes. Second, humans naturally evaluate the plausibility of predictions regarding future states. Based on this capability, and third, by assessing when predictions are sufficient, humans allocate a dynamic amount of time to make a prediction. This adaptive process is analogous to System 2 thinking in psychology. All these capabilities are fundamental to the success of humans at high-level reasoning and planning. Therefore, to address the limitations of traditional autoregressive models lacking these human-like capabilities, we introduce Energy-Based World Models (EBWM). EBWM involves training an Energy-Based Model (EBM) to predict the compatibility of a given context and a predicted future state. In doing so, EBWM enables models to achieve all three facets of human cognition described. Moreover, we developed a variant of the traditional autoregressive transformer tailored for Energy-Based models, termed the Energy-Based Transformer (EBT). Our results demonstrate that EBWM scales better with data and GPU Hours than traditional autoregressive transformers in CV, and that EBWM offers promising early scaling in NLP. Consequently, this approach offers an exciting path toward training future models capable of System 2 thinking and intelligently searching across state spaces.