4 papers
AWM-VLA: AlignedWorld Modeling for Efficient and Explainable Vision-Language-Action Policies
An Lanji, Dawei Liu, Jin Li +3
Vision-language-action (VLA) models have become a powerful paradigm for generalist robotic manipulation, yet they are often reactive: the policy maps the current observation direct…
UniJEPA: A Unified Joint-Embedding Predictive Architecture for Task-Agnostic Visual World Modeling
An Lanji, Dawei Liu, Jin Li +3
Joint-Embedding Predictive Architectures (JEPAs) have emerged as a principled framework for self-supervised learning of world models in compact latent spaces, yet existing methods…
DiffuseAgent-MI: Distributionally-Grounded,Tool-Integrated Self-Evolving Agents for Faithful Visual Reasoning
An Lanji, Dawei Liu, Jin Li +3
Tool-integrated vision-language agents have made remarkable progress on compositional and multi-step visual reasoning. Yet their outputs frequently exhibit unfaithfulness: the stat…
Policy-Level Recursive Self-Improvement for Embodied AI with a Criticality World Model
Linxuan He, Yuying Tian, Lingxiang Fan +5
Despite advances in policy pretraining, embodied AI systems can plateau during task-specific fine-tuning as uniform scenario collection encounters fewer of the remaining failures.…