arXiv:2607. 18715v1 Announce Type: new Abstract: Latent world models underpin much of modern model-based control, yet current action-conditioned formulations supervise the next-latent transition with a single, undifferentiated target, forcing a monolithic learning signal to absorb every source of state change.
arXiv:2608. 11605v1 Announce Type: new Abstract: World Action Models (WAMs) couple future visual prediction with robot action generation, enabling policies to model how the physical world evolves during interaction.
arXiv:2604. 03208v2 Announce Type: replace Abstract: World models are a promising path to zero-shot embodied control through planning.
AD-WM is a new action‑discriminative joint‑embedding world model designed for counterfactual model predictive control. It augments residual latent dynamics with action‑recovery regularization based on inverse dynamics and conditional mutual information, while discarding auxiliary heads at test time so that MPC remains unchanged. Experiments on OGBench‑Cube and other simulation environments show substantial gains in hard‑start success and mean success, and zero‑shot transfer to a Franka robot improves pick‑and‑place success from 42.2% to 71.1%.
arXiv:2606. 20104v1 Announce Type: cross Abstract: Perception for action suggests that representations of the world should be shaped not by visual fidelity alone, but by their relevance for actions.
arXiv:2606. 16489v1 Announce Type: new Abstract: Model-based Reinforcement Learning (MBRL) has achieved remarkable success in continuous control by leveraging latent world models.
The paper introduces Action-Contrastive Masked Transition Modeling (AC‑MTM), a method that stabilizes Joint‑Embedding Predictive Architectures (JEPAs) without relying on Gaussian regularization. AC‑MTM adds a training‑only inverse‑dynamics head that uses Action‑NCE to force each latent transition to identify its generating action, thereby preventing encoder collapse. Experiments on pixel‑control and multi‑object visual tasks show that AC‑MTM trains stably from scratch and matches or surpasses the performance of SIGReg, achieving up to a 24‑point improvement on the OGBench Visual Scene benchmark.
arXiv:2606.27504v2 Announce Type: replace Abstract: World Action Models (WAMs) unify future environment prediction with action generation for autonomous driving, yet existing approaches optimize only...
JEPA-x is a cross‑predictive physics grounding method that aligns visual latent dynamics with privileged physical trajectories. By treating visual observations and physical states as two views of the same action‑conditioned trajectory and sharing a predictor, it forces the model to learn a common transition rule for both modalities. The physical branch is only used during training, so deployment incurs no extra cost, and the approach significantly reduces rollout drift and boosts control success across a multi‑task suite.
arXiv:2608. 06994v1 Announce Type: cross Abstract: World Action Models (WAMs) aim to construct a unified architecture capable of understanding world state evolution and guiding to generative motion planning.
The paper introduces the Dual-Latent World Model (Dual-WM), which separates local execution and long-range planning into distinct latent spaces and dynamics models. A new learning method, Long-Horizon Representation Learning with Weighted Rollout (LoRe), supervises predictions at both levels using exponential horizon weights. Experiments on five goal-conditioned visual control tasks show that Dual-WM improves success rates over strong baselines, especially at longer horizons.
arXiv:2609.23753v1 Announce Type: cross Abstract: Generative world models aim to predict future states conditioned on actions, where action controllability is fundamental for reliable dynamics modeli...
Subspace-Decomposed JEPAs (SD-JEPA) split the latent space of Joint-Embedding Predictive Architectures into two orthogonal subspaces: a low-dimensional progression subspace trained with a cosine-margin triplet loss and a high-dimensional content subspace regularised by SIGReg. The authors prove that the anti-collapse forces act on disjoint coordinates, allowing additive composition rather than competition. SD-JEPA outperforms the LeWM baseline on most control benchmarks and the strongest non-LeWM JEPA baseline on Push‑T, with a subspace-ablation confirming the split as essential. The 1‑D angular progression coordinate serves as a scene-aware compass, advancing with task progress, regressing on backtracking, and relocalising under perturbations to separate surprise from meaning.