Author

Alexander Popov

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#artificial intelligence Preprint Oct 2026

LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC

World action models (WAMs) predict actions and future observations, typically from a reconstruction-based representation that carries noisy, redundant information which can complicate downstream predictions. We introduce LeWAM, a bidirectional transformer for forward, backward, inverse dynamics and policy prediction, o...

Shashank Hegde, Alexander Popov, Elie Aljalbout et al. · 0 citations

#artificial intelligence Jun 2026

Planning-aligned Token Compression for Long-Context Autonomous Driving

This work proposes COMPACT-VA, a planning-aligned working memory framework built on conditional VQ-VAE, compressing extended context into bounded representations, and evaluates on high-signal dynamic scenarios where historical context is most critical for behavior correctness, and accordingly design behavioral metrics.

Zhixuan Liang, Yuxiao Chen, Yurong You et al. · arXiv.org · 1 citation