(draft) feat: add LeWM, an action-conditioned latent world model trained with SIGReg

docs/source/examples/lewm.rst

@@ -0,0 +1,103 @@
+.. _lewm:
+
+LeWM
+====
+
+LeWM [0]_ is a latent world model. It predicts the embedding of the next frame
+from the embeddings of the past frames and the actions that were taken, and it
+never reconstructs pixels. The encoder is trained from pixels together with the
+predictor. SIGReg [1]_ keeps the embeddings close to an isotropic Gaussian,
+which is what prevents collapse, so LeWM needs no stop-gradient, no teacher
+network and no exponential moving average.
+
+This is the self-supervised idea with one more axis. An SSL method predicts the
+embedding of one view from another view. A world model predicts the embedding
+of the next frame from the past ones, given what the agent did.
+
+.. warning::
+
+    LeWM and the ``world_model`` modules are experimental. Their shapes and
+    signatures may change in a minor release.
+
+Key Components
+--------------
+
+- **Encoder**: Any image encoder maps a frame to an embedding. The example uses
+  a ViT-tiny with a :class:`lightly.models.modules.LeWMProjectionHead` on the
+  class token.
+- **Action encoder**: :class:`lightly.models.modules.ActionEncoder` maps a
+  low-dimensional action vector to the width of the predictor.
+- **Predictor**: :class:`lightly.models.modules.LatentDynamicsPredictor` is a
+  causal transformer over frames. The action at frame ``t`` conditions every
+  block through AdaLN-Zero. It is action-conditioned and causal by default;
+  ``conditional=False`` gives an actionless predictor and ``causal=False`` a
+  bidirectional one, both built from
+  :class:`lightly.models.modules.PredictorBlock`.
+- **Loss**: :class:`lightly.loss.LeWMLoss` adds a next-embedding prediction
+  term and :class:`lightly.loss.SIGReg`. The weight of the SIGReg term is the
+  only hyperparameter that needs tuning.
+
+The shape contract
+------------------
+
+The predictor reads and returns::
+
+    embeddings   (B, T, D)
+    action_emb   (B, T, D)
+
+``B`` is the batch, ``T`` the frames of one clip and ``D`` the width. Entry
+``t`` of the output predicts frame ``t + 1``, and ``action_emb[:, t]`` is the
+action taken **at** frame ``t``. A shape check cannot catch a phase error, so a
+training step reads::
+
+    predicted = predictor(emb[:, :-1], action_emb=action_emb[:, :-1])
+    target = emb[:, 1:]
+
+Good to Know
+------------
+
+- **Same regularizer as LeJEPA**: LeWM is LeJEPA over time, with actions. Both
+  methods use the same :class:`lightly.loss.SIGReg` class.
+- **The encoder is interchangeable**: The predictor reads embeddings, not
+  images, so any backbone works, and a frozen pretrained encoder is
+  interchangeable with one trained from scratch. A frozen encoder also cannot
+  collapse, because its targets cannot move.
+- **Planning is out of scope**:
+  :meth:`lightly.models.modules.LatentDynamicsPredictor.rollout` feeds the
+  model its own predictions, which is how a planner scores candidate action
+  sequences. The planner itself needs an environment and an episode, so it
+  belongs to a control library rather than here.
+
+.. note::
+
+    A projection head that ends in ``BatchNorm`` behaves differently in train
+    and eval mode, and planning runs in eval mode. Check that the embeddings
+    agree between the two modes before trusting a rollout.
+
+Reference:
+
+    .. [0] `LeWorldModel, 2026 <https://arxiv.org/abs/2603.19312>`_
+    .. [1] `LeJEPA, 2025 <https://arxiv.org/abs/2511.08544>`_
+
+.. note::
+
+    LeWM requires `TIMM <https://github.com/huggingface/pytorch-image-models>`_
+    to be installed
+
+    .. code-block:: bash
+
+        pip install "lightly[timm]"
+
+.. tabs::
+    .. tab:: PyTorch
+
+        .. image:: https://img.shields.io/badge/Open%20in%20Colab-blue?logo=googlecolab&label=%20&labelColor=5c5c5c
+            :target: https://colab.research.google.com/github/lightly-ai/lightly/blob/master/examples/notebooks/pytorch/lewm.ipynb
+
+        The example generates its own trajectories, so it runs without an
+        environment or a recorded dataset. It can be run from the command line
+        with::
+
+            python lightly/examples/pytorch/lewm.py
+
+        .. literalinclude:: ../../../examples/pytorch/lewm.py

docs/source/examples/models.rst

@@ -23,6 +23,7 @@ for PyTorch and PyTorch Lightning to give you a headstart when implementing your
     frossl.rst
     ibot.rst
     lejepa.rst
+    lewm.rst
     mae.rst
     mmcr.rst
     msn.rst

docs/source/lightly.loss.rst

@@ -41,6 +41,9 @@ lightly.loss
 .. autoclass:: lightly.loss.lejepa_loss.LeJEPALoss
    :members:
 
+.. autoclass:: lightly.loss.lewm_loss.LeWMLoss
+   :members:
+
 .. autoclass:: lightly.loss.koleo_loss.KoLeoLoss
    :members:
 

docs/source/lightly.models.rst

@@ -24,3 +24,16 @@ lightly.models
 --------
 .. automodule:: lightly.models.modules.heads
    :members:
+
+.world_model
+------------
+.. automodule:: lightly.models.modules.world_model
+
+.. autoclass:: lightly.models.modules.world_model.conditioning.ActionEncoder
+   :members:
+
+.. autoclass:: lightly.models.modules.world_model.predictor.LatentDynamicsPredictor
+   :members:
+
+.. autoclass:: lightly.models.modules.world_model.predictor.PredictorBlock
+   :members: