What the world model is actually for

With a judge that is right at rest, the world model finally had a fair question: can it read the judge's verdict from the latent, and can it see it coming? G10 ran on the Mac for free. It is the one world-model gate that passed cleanly, and the next post is about how much of it survived contact with fresh data.

G10

Bars: outcome readout at the judge's timestamp AUROC ≥ 0.90; anticipation 30 steps earlier must beat policy identity by +0.10.

• Step 1, readout at t_j: W1 AUROC 1.000, W2 0.976. The latent at rest contains the outcome.
• Step 2, anticipation at t_j − 30: the imagined latent beats policy identity by +0.179 (0.993 against ground truth).
• Mid-chunk surprise (prediction error of the next latent): 1.82× higher on missed grasps, 2.58× on stalls, from the first step.

Pass. The architecture of record changed the same day: no planning, no progress tracking. The world model is a pre-execution veto (imagine the chunk, refuse it if the imagined outcome reads as failure) and a mid-chunk surprise monitor.

G11-A: does it fit in the tick?

Dual-camera surprise check on the Orin NX, FP16 CUDA: 12.78 ms mean, 12.95 ms max, inside a 33 ms control tick with 20 ms to spare. Pass.

A correction row was added the next day: the benchmark had loaded the checkpoint with strict=False and a key remap that did not fit the image's transformers version, so its encoder was random. The timing stands (same architecture); the latent values from that run are void. A strict-load check now runs before every Jetson gate.

Honest reading, written before the next gates

G10 is retrospective: W1 was scored on the same 69 rollouts it had seen as unlabeled training video. The real test is a fresh rollout and a fixed threshold. That test came two days later.