Author

Li-Yun Yan

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Preprint Oct 2026

BeJEPA: A Goal-Conditioned Humanoid Behavior World Model via Unsupervised RL

Humanoid control requires coordinating whole-body posture with position and heading in the world frame. Mainstream controllers imitate trajectories in the root frame, but struggle to regain the target world pose after displacement. We introduce BeJEPA, a goal-conditioned Behavior World Model learned through unsupervise...

Li-Yun Yan, Hao-Yang Li, Yang Zhang et al. · 0 citations

Jul 2026

P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning

This work introduces P^3 (Probabilistic Policy Propagation), a distribution-aware optimization framework for VAE-based policies that couples moment-based probabilistic method for stable and efficient learning with sampling-based calibration for robust policy behavior under latent uncertainty.

Li-Yun Yan, Jian-Ming Ma, Yang Zhang et al. · arXiv.org · 0 citations