World Models for Cross-Machine CNC Transfer under Partial Sensor Overlap

arXiv:2609.16071v2 Announce Type: replace Abstract: Industrial world models must move between machines whose dynamics, sensing interfaces and command conventions differ. This study asks whether a command-conditioned latent world model, trained to predict future representations of the process rather than to reconstruct future samples, keeps its value on a machine it has never seen: a source CNC machine exposes 17 sensor channels, the target sharing 10 of those. All model selection uses source data only, and the locked configuration is evaluated on the target once. Two findings follow. First, latent-predictive pretraining brings no in-domain forecasting gain over matched training from scratch, so source accuracy alone cannot show what such a representation is worth. Second, the transferred model beats persistence on the unseen machine (with $R^2\approx0.01$ against the target mean) but trails official forecasters that normalize each input window by its own statistics; a post-lock ablation, declared before it ran, shows that this input normalization alone closes the gap, and closing it costs predictive calibration. Cross-machine transfer under partial sensor overlap is therefore a distinct evaluation axis for command-conditioned world models.