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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
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…