JEPA-UQ: Benchmarking Uncertainty in Latent World Model Rollouts

Latent world model rollouts need uncertainty estimates tied to future prediction error. JEPA-UQ defines a measurement protocol that specifies prediction-time information, target loss, horizon, output meaning, and statistical unit. We study one frozen visual encoder and two variance-based predictive systems on 14 nuScenes logs outside the project's recorded history. Both systems show a positive scoreloss association at H1-H5, with weaker correlations at longer horizons. At H1 and H2, AUROC intervals lie above chance. Overall, score rankings carry information about continuous rollout loss across all five horizons. Interval evidence for thresholded failure events is concentrated at H1 and H2.