Author

Nan Zheng

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Jul 2026

LeapBot-WA: World-Anchor Action Models via Predictive Latent Alignments

LeapBot-WA establishes a novel Predictive-Latent paradigm for WAMs by operationalizing the Joint-Embedding Predictive Architecture (JEPA) as a World-Anchor and introduces the Isotropic Semantic Autoencoder (ISAE), which reshapes the anchor's latent space into a diffusion-friendly manifold to prevent off-manifold drift.

Pei Liu, Nan Zheng, Lang Zhang et al. · arXiv.org · 0 citations