ARC-Bench: Closed-Loop Replanning Masks Broken Action Ranking in Frozen JEPA World Models

arXiv cs.AISeptember 9, 2026en

arXiv cs.AI

AI Global Wire

arXiv:2609.05461v1 Announce Type: new Abstract: Reward-free latent world models plan by scoring candidate actions with distances in a frozen latent space: an action is preferred if its predicted future embedding lands closer to the goal embedding. This silently assumes that latent closeness is action-rankable, i.e., that ordering candidates by latent distance agrees with ordering them by true cost. We audit this assumption directly. We introduce ARC-Bench, a no-leak, fixed-candidate protocol that measures whether frozen JEPA-style objectives rank candidate actions correctly, and apply it to official released JEPA-WM checkpoints across navigation and manipulation-style control. The assumption

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