J-LAW: Joint Localization and Actionable World Modeling via Coupled Latent Factor Graphs

arXiv:2606.28712v1 Announce Type: new Abstract: Classical SLAM estimates metric poses and a geometric map but produces no actionable predictive model for planning. Action-conditioned world models learn compact latent dynamics for planning but ignore global metric consistency and accumulate drift under open-loop rollout. We argue these are two views of the same estimation problem and propose J-LAW (Joint Localization and Actionable World Modeling) in this letter: a coupled factor graph that joint...