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cs.LG2026
Semigroup-JEPA: Latent Dynamics Consistency for Zero-Shot Physics Generalization
Andy Zeyi Liu, Haoran Sun, Lucas Baker +2
Joint-Embedding Predictive Architecture (JEPA) world models learn a compact latent representation of the world that supports prediction and planning, but their capability to learn…
cs.RO2026
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu +5
We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historic…