The Evaluation Protocol Determines the Result: An Independent Reproduction of LeWorldModel on TwoRoom
On the map: World models → Embodied and robot world models
Abstract (arXiv)
LeWorldModel trains a latent world model with a prediction loss and a single anti-collapse regulariser, and reports approximately 87% of goals reached on TwoRoom, its simplest diagnostic environment. We reproduce that result by independent reimplementation on roughly 25 of rented compute, with all evaluation on one laptop CPU. We reach 94.0% at the repository's evaluation goal offset, against 84.0% for the authors' own released checkpoint measured under our protocol on identical episodes, and we reproduce the reported representation result directly (position probe Pearson r = 0.9988 against a reported 0.996). Reaching that point required four conventions that determine the outcome and appear in no released configuration file: dense action gathering across a frameskip block, a programmatically-set action-encoder width, ImageNet pixel normalisation, and action z-scoring. A reproducer following the released configurations alone obtains a model whose predictor cannot converge. The evaluation protocol is itself contested by the released material. The paper's appendix and the repository's configuration specify different goal offsets and step budgets; on the authors' own weights these yield 14.0% and 84.0%, and only the configuration's values reproduce the reported figure. On fifty identical episodes, changing nothing but how the goal is constructed moves that checkpoint from 84.0% to 8.0%. Two findings generalise. One-step prediction accuracy does not predict long-horizon planning success: across three checkpoints spanning a sevenfold range in prediction error, including the authors' own, it orders short-horizon success monotonically and fails to order long-horizon success at all. And a batch normalisation layer inflated our reported validation loss by up to a factor of 300, concealing a training loss that was flat throughout.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 4 of its 6 references that are in the map. First posted on arXiv 10 Aug 2026.
Builds on
4 of 6 references.
References · 4
- 2026LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixelscited by 273
- 2025LeJEPA: Provable and Scalable Self-Supervised Learning Without the Heuristicscited by 254
- 2026stable-worldmodel-v1: Reproducible World Modeling Research and Evaluationcited by 9
- 2026World Model Control by Trajectory Reachability Metricscited by 8
Built on by
Not cited yet.
Similar, not cited
Close in wording, no citation either way
- 2026Counterfactual Action Evaluation, Observation Bottlenecks, and Representation Geometry in Joint-Embedding Predictive World Models
- 2026HarnessEval-W: Agentifying the Evaluation of Visual Worlds
- 2026Action from Adjacent Set in Physical Space Outperforms the Best Prediction in World Models
- 2026Fast LeWorldModel
- 2026Paired Exact-Reset Evaluation of a Prediction-Derived Medium-to-Full World-Model Cascade
- 2026Sampling headroom is not selection gain: a compute-value audit of test-time scaling for video world models
- 2026vla-eval: A Unified Evaluation Harness for Vision-Language-Action Models
- 2026ReSync: Re-Aligning the Two Clocks of Asynchronous World-Action Models