Author

Si-Yuan Luo

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#robotics Jul 2026

Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents

Agentic Real2Sim is introduced, a framework for generalized physical world modeling with vision-language agents, converting a real-world recording of object-robot interaction into a simulatable episodic twin which preserves observations, geometries, robot interactions, and object states.

Guan-Xiong Chen, Qian-Jun Xia, Jia-Wei Peng et al. · arXiv.org · 0 citations

#machine learning Preprint Aug 2026

JEPA-x: Cross-Predictive Physics Grounding for Forecastable Latent Dynamics

This work introduces the cross-predictive JEPA (JEPA-x), which grounds latent dynamics in privileged physical trajectories, and shows that direct physical-state regression improves decodability without improving forecastability or control, indicating that the benefit comes from shaping latent dynamics rather than merely encoding physical variables.

Kehan Wen, Ziming Li, Siyuan Luo et al. · 0 citations