World Models Under Asynchronous Sensor Observations

Abstract

Learned world models typically assume that observations arrive synchronously, an abstraction inherited from simulators that return a complete state vector at each environment step. Physical sensing instead operates at heterogeneous rates, leaving most observation channels stale at any given instant. Interpolating stale channels introduces measurements that were never observed, while downsampling to the slowest sensor discards valid measurements. A natural alternative is to zero-order-hold the most recent reading and provide the known sampling schedule to the model through two features, staleness and time-to-refresh. We test this prediction using transformer world models across three regimes of increasing causal coupling: open-loop rollouts in continuous-control locomotion, closed-loop model-predictive planning in which each learned model serves as the planner dynamics, and a linear latched-actuator system in which refresh events apply a zero-order-held command to the plant. Our findings show that the effectiveness of time-to-refresh depends on the causal role of the sampling schedule, specifically when refresh events affect the system rather than merely report its state. These results establish when sampling schedules provide useful information for predictive world models operating under asynchronous physical observations.