4 papers
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…
Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models
Shuaijun Liu, Feiyang You, Chengyu Wu +5
Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still lack a clear mechanism to balance behavioral stability with task-semantic s…
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…
HydraCollab: Adaptive Collaborative-Perception for Distributed Autonomous Systems
Luke Chen, Cheng-Ju Wu, David R. Martin +3
Collaborative-perception enables multi-robot systems to enhance situational awareness by sharing perceptual information. Existing collaborative-perception systems face an inherent…