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cs.RO2026
D-JEPA: A Decision-Aligned Latent World Model
Shuaijun Liu, Chengyu Wu, Qifu Wen +5
Latent world models predict the consequences of actions, but accurate prediction does not guarantee that latent distance reflects which candidate will execute successfully. We iden…
cs.RO2026
CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
Shuaijun Liu, Qifu Wen, Shuyang Hao +5
World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual polic…