World-model controllers rely on action-conditioned dynamics for prediction and planning, yet real control systems often execute commands asynchronously due to communication delay, packet loss, reordering, and actuator buffering. We study how asynchronous execution changes the act…
World-model controllers rely on action-conditioned dynamics for prediction and planning, yet real control systems often execute commands asynchronously due to communication delay, packet loss, reordering, and actuator buffering. We study how asynchronous execution changes the act…
arXiv cs.AI
TIER_1English(EN)·Dhananjay Ashok, Shantanu Agarwal, Vivek Datla, Jonathan May, Alfy Samuel·
arXiv:2610.02542v1 Announce Type: new Abstract: World models (WMs) simulate the transition dynamics of environments, enabling agents to plan over the consequences of their actions. In text-based environments, fine-tuning a Language Model (LM) to serve as a WM has emerged as a dom…
arXiv cs.AI
TIER_1English(EN)·Fei Zhang, Zhaochong An, Duncan Frost, Yikai Wang, Pengfei Liu, Ya Zhang, Michal Drozdzal, Amir Bar·
arXiv:2610.02508v1 Announce Type: new Abstract: World action models (WAMs) have emerged as a promising paradigm for robotic control by jointly predicting future visual dynamics and actions from an initial observation and instruction. However, existing WAMs struggle with long-hori…
arXiv cs.AI
TIER_1English(EN)·Samuel Barbeau, Simon Roy, Giovanni Beltrame, Christian Desrosiers, Nicolas Thome·
arXiv:2606.20627v2 Announce Type: replace Abstract: Joint-Embedding Predictive Architectures (JEPAs) enable agents to plan in latent space by imagining the outcomes of candidate actions, yet task specification remains a bottleneck. Visual targets provide precise local gradients b…
arXiv:2607.27599v2 Announce Type: replace Abstract: Building generalizable robot agents for diverse applications remains a fundamental challenge. While imitation learning-based policies can perform well in familiar training environments, they often struggle to generalize to novel…
arXiv:2610.02860v1 Announce Type: new Abstract: Low latent prediction error does not establish that a world model distinguishes the consequences of its actions. We introduce an evaluation protocol that traces the same intervention through simulator state, raster observations, tar…
arXiv cs.LG
TIER_1English(EN)·Tingting Du, Ziyao Wang, Guoheng Sun, Ang Li·
arXiv:2610.03516v1 Announce Type: cross Abstract: World action models (WAMs) have advanced robot control by predicting how observations and actions evolve over time. Despite this progress, RGB and action based future prediction does not explicitly address the spatial understandin…
arXiv:2512.09929v2 Announce Type: replace Abstract: World models paired with model predictive control (MPC) can be trained offline on large-scale datasets of expert trajectories and enable generalization to a wide range of planning tasks at inference time. Compared to traditional…
World Action Models (WAMs) incorporate visual representations from video generation backbones to guide action prediction. Recent efficient WAMs adopt Mixture-of-Transformers (MoT) architectures and compute video representations once for reuse by the action expert. However, intra-…
arXiv:2610.01224v1 Announce Type: new Abstract: Latent world models plan by scoring candidate action sequences with distances in latent space. However, task success is judged by physical quantities, which we call the success-criterion quantities. In all four latent world models w…
arXiv cs.LG
TIER_1English(EN)·Zheyuan Zhang, Suyu Ye, Nakul Agarwal, Hossein Nourkhiz Mahjoub, Ehsan Moradi Pari, Daniel Khashabi, Tianmin Shu, Vaishnav Tadiparthi·
arXiv:2610.00722v1 Announce Type: new Abstract: World models enable agents to plan by predicting future states of the environment, but their predictions can become unreliable when test-time dynamics differ from those seen during training. We present JEPA-TTT, which adapts the lat…
arXiv cs.LG
TIER_1English(EN)·Michael Hauri, Peter Buttaroni, Fabian A. Mikulasch, Friedemann Zenke·
arXiv:2610.01373v1 Announce Type: new Abstract: World models allow agents to plan in latent space by choosing a sequence of actions that most reduces the distance to a given goal state. Thus, planning can benefit from latent representations whose distances mirror commute-times in…
arXiv cs.AI
TIER_1English(EN)·Quanyi Li, Lan Feng, Haonan Zhang, Wuyang Li, Letian Wang, Alexandre Alahi, Harold Soh·
arXiv:2604.11751v2 Announce Type: replace-cross Abstract: World models such as DINO-WM and LeWM specify the goal with an image, which is difficult to obtain in advance for novel tasks. We present the Grounded World Model (GWM), a latent world model that enables zero-shot planning…
World action models (WAMs) have emerged as a promising paradigm for robotic control by jointly predicting future visual dynamics and actions from an initial observation and instruction. However, existing WAMs struggle with long-horizon prediction, as generating dense video rollou…
Predicting the future evolution of a scene is a fundamental capability for world modeling. Recent work has shown that operating in the feature space of Vision Foundation Models (VFMs) yields semantically rich representations that support diverse future scene understanding tasks. …
arXiv:2609.37644v1 Announce Type: new Abstract: Latent world models often struggle with long-horizon planning despite accurate short-term predictions. Recursive rollouts accumulate errors, while distance concentration in high-dimensional latent spaces can weaken goal discriminati…
arXiv cs.AI
TIER_1English(EN)·Ke Fang, Yupu Yao, Lu Cheng·
arXiv:2609.36333v1 Announce Type: cross Abstract: Latent world models rely on representation geometry for planning, yet regularizing the latent marginal alone does not determine the state-to-state relationships used for action selection. We show that this can cause planning-relev…
Latent world models rely on representation geometry for planning, yet regularizing the latent marginal alone does not determine the state-to-state relationships used for action selection. We show that this can cause planning-relevant novelty structure to be weakened as representa…
World models enable agents to plan by predicting future states of the environment, but their predictions can become unreliable when test-time dynamics differ from those seen during training. We present JEPA-TTT, which adapts the latent dynamics predictor of a pretrained action-co…
arXiv:2610.01942v1 Announce Type: new Abstract: Predicting the future evolution of a scene is a fundamental capability for world modeling. Recent work has shown that operating in the feature space of Vision Foundation Models (VFMs) yields semantically rich representations that su…
arXiv:2609.39235v1 Announce Type: cross Abstract: World models offer a promising way to help robots understand how the physical world evolves and plan complex behaviours through imagination. Yet existing studies mainly demonstrate what these models can accomplish, leaving unclear…
