arXiv Robotics — research abstracts· Romina Yalovetzky, Randall Balestriero, Yann LeCun·· 1 days agoEditorial score65
LeHami: Symplectic Latent Dynamics for World Models
LeHami: Symplectic Latent Dynamics for World Models
Summary
The paper proposes LeHami, a Symplectic Hamiltonian JEPA that replaces standard predictors with action-conditioned Hamiltonian flows over structured latent states. This approach preserves phase-space volume and improves long-horizon velocity prediction in visual pendulum environments.
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Source：arXiv Robotics — research abstracts · arxiv.org