arXiv:2412.12870v4 Announce Type: replace Abstract: Learning predictive models from high-dimensional sensory observations is fundamental for cyber-physical systems, yet the latent representations learned by standard world models lack physical interpretability. This limits their reliability, generalizability, and applicability to safety-critical tasks. We introduce Physically Interpretable World Models (PIWM), a framework that aligns latent representations with real-world physical quantities and constrains their evolution through partially known physical dynamics. Physical interpretability in PIWM is defined by two complementary properties: (i) the learned latent state corresponds to meaningful physical variables, and (ii) its temporal evolution follows physically consistent dynamics. To achieve this without requiring ground-truth physical annotations, PIWM employs weak distribution-based supervision that captures state uncertainty naturally arising from real-world sensing pipelines. The architecture integrates a VQ-based visual encoder, a transformer-based physical encoder, and a learnable dynamics model grounded in known physical equations. Across three case studies (Cart Pole, Lunar Lander, and Donkey Car), PIWM achieves accurate long-horizon prediction, recovers true system parameters, and significantly improves physical grounding over purely data-driven models. These results demonstrate the feasibility and advantages of learning physically interpretable world models directly from images under weak supervision.