Recent work on LeWorldModel (LeWM) has shown that the Sketched Isotropic Gaussian Regularizer (SIGReg) enables stable end-to-end world-model learning from pixels by regularizing the latent marginal distribution toward an isotropic Gaussian, thereby preventing representation collapse. While effective and elegant in single-task settings, this recipe does not extend reliably to multi-task training, leading to substantially worse downstream behavior-cloning performance.
The paper investigates the LeWorldModel (LeWM) and its Sketched Isotropic Gaussian Regularizer (SIGReg), showing that the original Raw LeWM objective biases variance toward temporally persistent components, which suppresses residual variance and hampers robot state decodability. By applying SIGReg specifically to temporally centered residuals, the authors decouple persistent and residual variance allocation, improving representation quality. On the LIBERO benchmark, this adjustment boosts downstream policy success on the Goal suite by 1.66× and raises overall success rates from 63.6% to 83.8%, outperforming Diffusion Policy and pretrained OpenVLA without external pretraining.
By Chang Liu, Fei Suo, Yanzhou Jin, Zeyu Ping, Yusuke Iwasawa, Yutaka Matsuo, Yaonan Zhu
arXiv:2603. 19312v3 Announce Type: replace Abstract: Joint Embedding Predictive Architectures (JEPAs) offer a compelling framework for learning world models in compact latent spaces, yet existing methods remain fragile, relying on complex multi-term losses, exponential moving averages, pre-trained encoders, or auxiliary supervision to avoid representation collapse.
By Lucas Maes, Quentin Le Lidec, Damien Scieur, Yann LeCun, Randall Balestriero
The paper introduces a lightweight Fourier auxiliary head to enforce physically-informed structuring of latent states in JEPA-style world models, addressing a newly identified failure mode called physical representation laziness that hampers planning in dynamic environments. Experiments show that this auxiliary supervision improves planning success rates, enhances latent space correlations with key physical properties, and boosts data efficiency, even when the baseline model does not exhibit laziness.
By Penghao Zhu, Salvatore Penachio, Kaustav Mukherjee, Aneesh Jonelagadda
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.
By Lucas Thil, Jesse Read, Rim Kaddah, Guillaume Doquet
arXiv:2606. 18627v1 Announce Type: new Abstract: Model merging has emerged as a training-free alternative to multi-task learning, aiming to combine multiple task-specific fine-tuned models into a single multi-task model.
By Ningyuan Shi, Zhipeng Zhou, Hao Wang, Chunyan Miao, Peilin Zhao
arXiv:2609.37165v1 Announce Type: cross
Abstract: Vision-Language-Action (VLA) models remain brittle under visual distribution shifts, often relying on spurious correlations tied to domain-specific f...
By Junghyun Kim, Ngseo Kim, ChungWoo Lee, Seoyeon Lee, Woo-Jeong Baek, Adam Zhou, Chip Huyen, Jun-Ki Lee, Gi-Cheon Kang, Byoung-Tak Zhang
arXiv:2607. 02681v1 Announce Type: cross Abstract: Integrating information across related tasks can improve estimation and prediction in transfer, multi-task, and federated learning, but contamination and heterogeneity make robust borrowing challenging.
By Ye Tian, Mengchu Li, Marco Avella Medina
arXiv:2608. 15516v1 Announce Type: new Abstract: Vision-Language Models (VLMs) have demonstrated strong performance in multimodal understanding and generation.
By Pengyu Wang, Baochen Xiong, Xiaoshan Yang, Yifan Xu, Zhang Qimeng, Haifeng Chen, Changsheng Xu
arXiv:2606. 02221v1 Announce Type: cross Abstract: Multi-task learning (MTL) aims to construct a joint model for multiple tasks by sharing a common representation across domains.
By Chengfeng Wu, Tao Zou, Yanru Wu, Jingge Wang
The paper introduces COVER, a multi‑task learning framework that regularizes covariate overlap to mitigate the negative effects of sharing information across tasks with differing covariate distributions and response relationships. COVER blends a common component function, a shared neural representation, and low‑dimensional task‑specific coefficients, using taskwise second‑moment matrices to guide coefficient integration. The authors provide theoretical bias‑variance analysis, oracle inequalities, and neural‑network convergence rates, and demonstrate that COVER outperforms existing deep‑learning and statistical integration methods in simulations and a GTEx central‑nervous‑system study.
By Yang Sui, Qi Xu, Yang Bai, Annie Qu
arXiv:2609.01433v1 Announce Type: new
Abstract: Concept erasure aims to suppress unsafe, privacy-sensitive, or undesirable generations in text-to-image diffusion models while preserving benign semant...
By Qinghui Gong, Xunlei Chen, Yu-Xuan Zhang, Hua Meng, Zhengchun Zhou