Yes and no. Riding a bicycle is a skill: your brain is trained to do the right thing and there's some basic feedback loop that keeps you in balance. You could call that a world model if you want, but it's entirely self contained, limited to a very few basic sensory signals (acceleration and balance), and it's outside your conscious knowledge. Plenty of people lack this particular "world model" and can talk about cyclists and bicycles and traffic, and whatnot.