arXiv Robotics — research abstracts· Shashank Hegde, Alexander Popov, Elie Aljalbout, Nikolai Smolyanskiy·· 23 hours agoEditorial score38
LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC
LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC
Summary
LeWAM improves action prediction and planning by using a bidirectional transformer. It outperforms standard models in alignment and closed-loop performance. The model enables better MPC through noise-space planning.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org