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Author

Jean Ponce

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#artificial intelligence Preprint Oct 2026

FLEX-WAM: Flexible Block-Causal World-Action Models for Long-Horizon Imagination and Planning

World--action models (WAMs) promise a unified model that predicts action-conditioned futures, generates feasible actions, and supports planning in imagination. However, existing joint video--action models often use computationally heavy, fixed-horizon backbones ill-suited to streaming inference and stable long-horizon...

R. Khorrambakht, Joseph Amigo, Félix Lebel et al. · 0 citations

What Drives Success in Physical Planning with Joint-Embedding Predictive World Models?

This work characterize models from this family of methods as JEPA-WMs and investigates the technical choices that make algorithms from this class work, and proposes a model that outperforms two established baselines, DINO-WM and V-JEPA-2-AC, in both navigation and manipulation tasks.

Basile Terver, Tsung-Yen Yang, Jean Ponce et al. · 49 citations · ⚡7

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