Author

Ludovic Righetti

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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

#artificial intelligence Preprint Oct 2026

VAMPS: Visual and Motor Policies from Sampling-Based Planning

Learning robot policies directly on physical systems remains difficult because data collection is costly and policy exploration can be unsafe. We introduce Visual and Motor Policies from Sampling-Based Planning (VAMPS), a framework that uses Model Predictive Path Integral (MPPI) control to train reusable policies witho...

Mohamed Yassine Kabouri, Pietro Noah Crestaz, Q. Nguyen et al. · 0 citations