World models aim to learn compact representations of an environment from observations, enabling agents to predict future states and plan their behaviour. However, most existing approaches learn black-box representations, with limited ability to incorporate prior knowledge about the world.

We introduce Concept-Grounded World Models (CGWMs), a neurosymbolic world model design that instead learns interpretable concept representations. We learn these concepts from observations using explicit and complete knowledge, expressed in temporal logic, that specifies the valid world states and the temporal relations governing their dynamics.

Furthermore, we directly use this knowledge by formulating planning as differentiable reasoning, optimising the agent's actions by gradient ascent to satisfy a goal. We experimentally compare CGWM with a purely neural baseline and a neurosymbolic baseline on two game environments.

We find that CGWMs ground concepts much more accurately, even over long horizons, resulting in significantly more robust planning both in and out of distribution.