Author

Jiaguang Zhu

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Preprint Aug 2026

Robust-WAM: Bridging Generative Pretraining and Semantic Foresight in World-Action Models

The Robust-WAM is a general post-training method for video-generation-based WAMs that preserves the VAE-based generative path and adds a lightweight semantic foresight alignment objective on the action stream to retain the large-scale VGM pretraining while grounding actions in appearance-invariant dynamics.

Haodong Yan, Junfeng Li, Junjie He et al. · 0 citations

Preprint Aug 2026

Is Forward Prediction Enough? Physical State Grounding for JEPA World Models

PSG-JEPA is proposed, a physically grounded JEPA world model that shapes its latent space with two complementary grounding objectives beyond forward prediction: grounding individual latents in robot proprioceptive state, and grounding latent pairs in multi-horizon joint-angle changes.

Haodong Yan, Jiaguang Zhu, Ming-Ming Jia et al. · 2 citations