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cs.RO2026
Bilinear World Models: Learning Representations with Structured Dynamics for Efficient Control
Antonio Pariente, Ignacio Boero, Nikolai Matni +1
World models jointly learn latent representations and dynamics that predict how high-dimensional observations evolve under actions. In this work, we propose a JEPA-style world mode…
cs.RO2025
Distilling On-device Language Models for Robot Planning with Minimal Human Intervention
Zachary Ravichandran, Ignacio Hounie, Fernando Cladera +3
Large language models (LLMs) provide robots with powerful contextual reasoning abilities and a natural human interface. Yet, current LLM-enabled robots typically depend on cloud-ho…