Author

Ming-Ming Jia

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Preprint Oct 2026

Rethinking World-Action Model for Compositional and In-Context Robotic Manipulation

Long-horizon compositional manipulation has become increasingly important for real-world robot deployment, where a single task involves multiple coordinated subtasks. Existing world-action models (WAMs) jointly predict short-horizon visual futures and actions, but typically lack explicit subtask-level reasoning. We pro...

Shu-Kai Gong, Xuan-Ran Zhai, Yintianrun Zhang et al. · 0 citations

Preprint Aug 2026

Is Forward Prediction Enough? Physical State Grounding for JEPA World Models

PSG-JEPA is proposed, a physically grounded JEPA world model that shapes its latent space with two complementary grounding objectives beyond forward prediction: grounding individual latents in robot proprioceptive state, and grounding latent pairs in multi-horizon joint-angle changes.

Hao-Dong Yan, Jia-Guang Zhu, Ming-Ming Jia et al. · 7 citations · ⚡1