Bernhard Scholkopf
Publications
Sensorimotor World Models: Perception for Action via Inverse Dynamics
Perception for action suggests that representations of the world should be shaped not by visual fidelity alone, but by their relevance for actions. At the same time, latent JEPA-style world models advocate learning compact predictive states from high-dimensional observations to facilitate the prediction of future states, but end-to-end training of these models is nontrivial because representations may collapse if our only goal is to construct a latent state that is easy to predict. We introduce a sensorimotor world model (SMWM): a latent world model trained end-to-end with inverse dynamics regularization. This single regularizer addresses both issues: it prevents representation collapse and induces action-aligned representations. By forcing latent states to preserve information about the action underlying a transition, it biases the model toward the controllable degrees of freedom of the environment while discarding uncontrollable distractors. This yields stable latent world models trained from offline, reward-free trajectories, without frozen encoders, exponential moving averages, or complex latent regularizers. Empirically, SMWM learns compact, interpretable latent spaces and enables competitive planning performance across simple 2D and 3D control tasks.
Alien Science: Sampling Coherent but Cognitively Unavailable Research Directions from Idea Atoms
Large language models are adept at synthesizing and recombining familiar material, yet they often fail at a specific kind of creativity that matters most in research: producing ideas that are both coherent and non-obvious to the current community. We formalize this gap through cognitive availability, the likelihood that a research direction would be naturally proposed by a typical researcher given what they have worked on. We introduce a pipeline that (i) decomposes papers into granular conceptual units, (ii) clusters recurring units into a shared vocabulary of idea atoms, and (iii) learns two complementary models: a coherence model that scores whether a set of atoms constitutes a viable direction, and an availability model that scores how likely that direction is to be generated by researchers drawn from the community. We then sample "alien" directions that score high on coherence but low on availability. On a corpus of $\sim$7,500 recent LLM papers from NeurIPS, ICLR and ICML, we validate that (a) conceptual units preserve paper content under reconstruction, (b) idea atoms generalize across papers rather than memorizing paper-specific phrasing, and (c) the Alien sampler produces research directions that are more diverse than LLM baselines while maintaining coherence.