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embodied control 1latency reduction 1predictive representations 1visual-language grounding 1world models 1

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20242026
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cs.RO2026

Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Control

Weili Zeng, Yitong Xing, Fulong Liu +10

The paper introduces Enfold, a method that folds the computation of a world-generative model into a predictive representation derived from the current visual scene and language ins…