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World Models Under Asynchronous Sensor Observations

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

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, stalene

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