Author

Li-Qing Chen

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Preprint Oct 2026

PRIME W0: Physical Priors from World Models for Embodied Manipulation

Vision-Language-Action (VLA) models excel at instruction following, yet most remain feed-forward: they condition actions only on the current observation and discard both long-horizon temporal context and the hierarchical structure of VLM representations. We present PRIME W0, a hierarchical conditional flow-matching fra...

Hua-Bin Peng, Fa-Gang Jin, Yang Wei et al. · 0 citations

#diffusion models Preprint Sep 2026

JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

JEPA Policy is introduced, a diffusion-free framework that uses the action chunk and its observed future representation as paired training targets as paired training targets and supports paired future-representation supervision supervision as a practical approach to low-latency visuomotor imitation without iterative ge...

Jie Xu, Kang-Jin Yu, Zi-Yi Jin et al. · 0 citations