Behavioral Monitoring of JEPA World Models with Jacobian Centroids

Thomas Walker; Randall Balestriero; Richard Baraniuk

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arXiv · 2609.33940

Behavioral Monitoring of JEPA World Models with Jacobian Centroids

Thomas Walker·Randall Balestriero·Richard Baraniuk

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Abstract

Detecting failures in World Model (WM)-based planning requires monitoring whether the model is behaviorally aligned with the current task, which in turn requires studying its internal representations. Here, we show that centroids---sub-component Jacobian row-sums---effectively identify the behavioral properties of WMs, complementing traditional activation-based knowledge signals. The centroids of a model are easily computed through Jacobian vector products and characterize how the model organizes the geometry of its input space, yielding an efficient perspective on internal representations, including the generation of task-relevant saliency maps. Evaluated on continuous control tasks using JEPA WMs, this behavioral view reveals a structural dissociation, where the encoder correctly represents the goal while the predictor remains behaviorally unresponsive. This failure mode directly predicts planning failure before any action is taken, allowing for goal resampling to recapture out-of-distribution success. Moreover, centroid-based methods outperform baseline methods as distribution-shift detectors. Together, these tools yield a behavioral monitoring stack that is operational and consequential under distribution shifts.

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Thomas Walker, Randall Balestriero, Richard Baraniuk. 2026-09-27. Behavioral Monitoring of JEPA World Models with Jacobian Centroids. https://arxiv.org/abs/2609.33940

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