Author

Qiao Sun

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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

Preprint Oct 2026

SimpleVLN: Towards Simple and Frontier Vision-Language Navigation

Vision-and-Language Navigation (VLN) requires embodied agents to ground language in visual observations and make long-horizon decisions. Existing methods often address these demands through task-specific architectures. As multimodal large language models (MLLMs) become increasingly capable, an important question remain...

Ling-Yi Hong, Wei-Ren Cai, Jia-Yu Chen et al. · 0 citations