The paper demonstrates that a frozen pretrained diffusion model can be endowed with identifiable latent coordinates via a lightweight alignment map called Contrastive Diffusion Alignment (ConDA). By leveraging auxiliary-variable nonlinear ICA guarantees, ConDA aligns diffusion latents so that the resulting representation recovers latent dynamical states up to permutation and componentwise invertible transformations, preserves the underlying structural causal model, and simplifies lagged graph recovery. Experiments on physical and robotic video systems show that ConDA, especially under TCL and GCL assumptions, achieves near-perfect state recovery and accurate lagged graph reconstruction, even in simulated falling-body and bipedal robot scenarios.
arXiv:2610.15267v1 Announce Type: cross Abstract: Joint-embedding predictive architectures (JEPAs) learn world models directly in latent space, but unconstrained autoregressive predictors may contrac...
arXiv:2607. 27138v1 Announce Type: cross Abstract: Vision-language-action (VLA) models remain constrained by scarce action-labeled robot data, whereas action-free videos offer abundant observations of physical change.
arXiv:2610.08475v1 Announce Type: new Abstract: In many-query scenarios, data-driven surrogate models provide an efficient alternative to high-fidelity solvers for simulating physical systems governe...
arXiv:2607. 11270v1 Announce Type: cross Abstract: Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities.
RD‑JEPA is a joint‑embedding predictive architecture designed for self‑supervised pretraining on reaction‑diffusion trajectories. The model is pretrained on five parameterized systems and then adapted to three held‑out systems that were not seen during pretraining. Using as few as one, five, or ten complete trajectories from a held‑out system, RD‑JEPA outperforms five supervised surrogate baselines, an independently trained control that removes the trajectory‑dependent predictive latent pathway, and an architecture‑matched model trained from scratch, achieving lower mean relative discrete β field error and mean absolute spatial first‑difference error across various output resolutions, forecast horizons, and adaptation trajectory choices.
arXiv:2606. 08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process.
The paper argues that diffusion-based action policies can use a frozen, observation‑free backbone as a reusable trajectory prior, with task adaptation handled entirely by the conditioning pathway. By pretraining a general action head on forward‑kinematics data and then freezing it, the authors show that a single backbone can match or outperform normally trained models on MimicGen and LIBERO. Their experiments reveal that a small 5 M‑parameter MLP backbone can rival large U‑Net and transformer backbones, indicating that action backbones are often over‑parameterized and that image‑style architectures may not be the best fit for low‑dimensional action generation.
arXiv:2602. 06219v2 Announce Type: replace-cross Abstract: World models offer a promising avenue for more faithfully capturing complex dynamics, including contacts and non-rigidity, as well as complex sensory information, such as visual perception, in situations where standard simulators struggle.
arXiv:2606. 07687v1 Announce Type: cross Abstract: Video world models are increasingly used to provide predictive visual representations, yet it remains unclear which pretraining signals induce action-relevant structure in their latent spaces.
AWM‑VLA introduces a unified framework that embeds aligned world modeling directly into a diffusion‑transformer vision‑language‑action policy. By adding learnable future tokens aligned with vision‑language embeddings of future observations, the policy can anticipate long‑term consequences while generating actions. The method extends this with an object‑centric alignment objective and a principled weighting scheme, achieving up to 21% higher success rates on RoboCasa and humanoid tabletop benchmarks and producing object‑centric rationales preferred by human raters in 83% of cases.
The paper introduces DSReg, a method that provably recovers individual world latent variables without relying on reconstruction, decoders, or labels. It leverages a Structural Diversity condition—distinct dependency footprints of different latents—to achieve full identifiability up to signed permutation. DSReg can be applied post hoc to any linearly identified representation, preserving dense prediction while improving latent recovery across synthetic and real-world experiments.
arXiv:2607. 19919v1 Announce Type: cross Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisable denoising over horizons.