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arXiv · 2508.06096

Bounding Distributional Shifts in World Modeling through Novelty Detection

Eric Jing·Abdeslam Boularias
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Abstract

Recent work on visual world models shows significant promise in latent state dynamics obtained from pre-trained image backbones. However, most of the current approaches are sensitive to training quality, requiring near-complete coverage of the action and state space during training to prevent divergence during inference. To make a model-based planning algorithm more robust to the quality of the learned world model, we propose in this work to use a variational autoencoder as a novelty detector to ensure that proposed action trajectories during planning do not cause the learned model to deviate from the training data distribution. To evaluate the effectiveness of this approach, a series of experiments in challenging simulated robot environments was carried out, with the proposed method incorporated into a model-predictive control policy loop extending the DINO-WM architecture. The results clearly show that the proposed method improves over state-of-the-art solutions in terms of data efficiency.

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Eric Jing, Abdeslam Boularias. 2025-08-08. Bounding Distributional Shifts in World Modeling through Novelty Detection. https://arxiv.org/abs/2508.06096

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