# World Models for Cross-Machine CNC Transfer under Partial Sensor Overlap

arXiv: https://arxiv.org/abs/2609.16071 · HTML: https://mlsanity.com/paper/2609.16071/

## 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 10 of its 27 references that are in the map.
- First posted on arXiv 13 Sep 2026.

## Placed in

- World models / [Embodied and robot world models](https://mlsanity.com/wm/embodied-and-robot-world-models/)

## Builds on (most cited first, 10 of 10)

- [A Time Series is Worth 64 Words: Long-term Forecasting with Transformers](https://mlsanity.com/paper/2211.14730/) (2022)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Self-Supervised Learning from Images with a Joint-Embedding Predictive Architecture](https://mlsanity.com/paper/2301.08243/) (2023)
- [iTransformer: Inverted Transformers Are Effective for Time Series Forecasting](https://mlsanity.com/paper/2310.06625/) (2023)
- [Revisiting Feature Prediction for Learning Visual Representations from Video](https://mlsanity.com/paper/2404.08471/) (2024)
- [LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixels](https://mlsanity.com/paper/2603.19312/) (2026)
- [SimMTM: A Simple Pre-Training Framework for Masked Time-Series Modeling](https://mlsanity.com/paper/2302.00861/) (2023)
- [Learning from Reward-Free Offline Data: A Case for Planning with Latent Dynamics Models](https://mlsanity.com/paper/2502.14819/) (2025)
- [A Lightweight Library for Energy-Based Joint-Embedding Predictive Architectures](https://mlsanity.com/paper/2602.03604/) (2026)
- [Learning Actionable World Models for Industrial Process Control](https://mlsanity.com/paper/2503.01411/) (2025)

## Abstract (arXiv)

Industrial world models must move between machines whose dynamics, sensing interfaces and command conventions differ. This study asks whether a command-conditioned latent world model, trained to predict future representations of the process rather than to reconstruct future samples, keeps its value on a machine it has never seen: a source CNC machine exposes 17 sensor channels, the target sharing 10 of those. All model selection uses source data only, and the locked configuration is evaluated on the target once. Two findings follow. First, latent-predictive pretraining brings no in-domain forecasting gain over matched training from scratch, so source accuracy alone cannot show what such a representation is worth. Second, the transferred model beats persistence on the unseen machine (with R2≈0.01 against the target mean) but trails official forecasters that normalize each input window by its own statistics; a post-lock ablation, declared before it ran, shows that this input normalization alone closes the gap, and closing it costs predictive calibration. Cross-machine transfer under partial sensor overlap is therefore a distinct evaluation axis for command-conditioned world models.