# The Global Neural World Model: Spatially Grounded Discrete Topologies for Action-Conditioned Planning

arXiv: https://arxiv.org/abs/2604.16585 · HTML: https://mlsanity.com/paper/2604.16585/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Latent predictive world models, one of 11 directions in World models.
- Builds on 3 of its 7 references that are in the map.
- First posted on arXiv 17 Apr 2026.

## Placed in

- World models / [Latent predictive world models](https://mlsanity.com/wm/latent-predictive-world-models/)

## Builds on (most cited first, 3 of 3)

- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Barlow Twins: Self-Supervised Learning via Redundancy Reduction](https://mlsanity.com/paper/2103.03230/) (2021)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)

## Abstract (arXiv)

We present the Global Neural World Model (GNWM), a self-stabilizing framework that achieves topological quantization through balanced continuous entropy constraints. Operating as a continuous, action-conditioned Joint-Embedding Predictive Architecture (JEPA), the GNWM maps environments onto a discrete 2D grid, enforcing translational equivariance without pixel-level reconstruction. Our results show this architecture prevents manifold drift during autoregressive rollouts by using grid ``snapping'' as a native error-correction mechanism. Furthermore, by training via maximum entropy exploration (random walks), the model learns generalized transition dynamics rather than memorizing specific expert trajectories. We validate the GNWM across passive observation, active agent control, and abstract sequence regimes, demonstrating its capacity to act not just as a spatial physics simulator, but as a causal discovery model capable of organizing continuous, predictable concepts into structured topological maps.