And of course it doesn't work. Humans don't have world models. There's no such thing as a world model!
And animals' main concern is energy conservation, so they must be doing something else.
The animal learns as it encounters learning signals - prediction failure - which is the only way to do it. Of course you need to learn/remember something before you can use that in the future, so in that sense it's "ahead of time", but the reason it's done that way because evolution has found that learning patterns will ultimately prove beneficial.
https://aaai.org/papers/00268-aaai87-048-pengi-an-implementa...
It instead works by "doing the thing that worked last time".
As an example, you don't usually need to know what is in your garbage in order to take out the trash.