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Mu-Yuan Liu

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#small language model Preprint Oct 2026

GAWM: A Compact Latent World-Action Model for Multi-Task Robot Manipulation

World-action models (WAMs) incorporate the prediction of future observations into robot policy learning. However, most WAMs build on billion-parameter vision-language or video-generation backbones, which incur high training cost and inference latency. In this letter, we present GAWM (Geometry-Aware World Model), a comp...

Yang Liu, Xiao-Li Liu, Liu-Zhao Li et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning

Action-conditioned JEPA world models enable planning toward visually specified goals without reconstructing future pixels, yet latent prediction alone does not explicitly encourage the learned representations to retain information relevant to robotic control. We introduce an end-to-end JEPA world model that augments la...

Mu-Yuan Liu, Yue-Ning Huang, Zhe Liang et al. · 3 citations