> poorly defined.

Poorly defined is not the same as undefined. There are bounds and we have a decent understanding of what this means. Not having the details all worked out is not the same. Though that lack of precision is being used to get away with more slop.

  > I need to find the paper that deepmind produced

I've seen that paper and the results pretty close to the action. I've even personally talked with people that worked on that paper. It very frequently "forgets" what is outside its view and it very frequently performs non-physically consistent actions. When you evaluate those models don't just try standard things, do weird things. Like keep trying to extend the grabber arm and it shouldn't jump to other parts of the screen.

  > The problem is that its not really a world model, its just image gen.

Yes, that was my point. Since you agree I'm not sure why you're disagreeing.