Certified World Models as Sensing Clocks: Drift-Aware Deadlines for Active Perception

• URL: http://arxiv.org/abs/2607.01537v1
• Date: Wed, 01 Jul 2026 23:36:49 GMT
• Title: Certified World Models as Sensing Clocks: Drift-Aware Deadlines for Active Perception
• Abstract summary: We turn a validity horizon into an operational sensing clock.<n>On a frozen 3D VN-JEPA model, the resulting clock controls held-out interval-simultaneous certificate violation.<n>We also report limits: in the short-horizon frozen VN-JEPA regime, empirical conformal horizons match the deployed clock on validity and budget, and a partial-reset exploration finds no clean budget-matched advantage for the spectral term.
• Score: 6.230579198456525
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Certified world models estimate how long their predictions remain valid. We turn this validity horizon into an operational sensing clock: a rule for when an agent should stop coasting and re-sense. Starting from an audited equivariant world model, we derive a deadline for no-sensing intervals and show that deployable deadlines in learned world models must be drift-aware: on-manifold Lyapunov rates alone overestimate coasting validity, while calibrated native rollout-drift envelopes carry the deployed guarantee. On a frozen 3D VN-JEPA model, the resulting clock controls held-out interval-simultaneous certificate violation across seeds and data shards. In a cue-conditioned theorem-bed (a synthetic bench where all schedulers share the exact model, isolating the scheduling rule), the clock remains valid on the deployment distribution and substantially reduces eventful-tail violations relative to exact-mixture expected-belief scheduling at matched sensing budget. We also report limits: in the short-horizon frozen VN-JEPA regime, empirical conformal horizons match the deployed clock on validity and budget, and a partial-reset exploration finds no clean budget-matched advantage for the spectral term. Thus the contribution is a certified sensing-clock primitive and drift-aware deployment method, not a claim that spectral clocks empirically dominate all non-spectral schedulers.

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