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Cheng-Long Zhang

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#machine learning Preprint Sep 2026

D-JEPA: A Decision-Aligned Latent World Model

Latent world models predict the consequences of actions, but accurate prediction does not guarantee that latent distance reflects which candidate will execute successfully. We identify a decision-local prediction gap: among the few futures competing for execution, a candidate predicted closer to the goal can produce a...

Shuai-Jun Liu, Cheng-Ju Wu, Qi-Fu Wen et al. · 0 citations
#machine learning Preprint Sep 2026

Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models

Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still lack a clear mechanism to balance behavioral stability with task-semantic sensitivity. We identify two complementary failure modes. Under task-preserving changes, where task semantics remain unchanged but scene appe...

Shuai-Jun Liu, Fei-Yang You, Cheng-Ju Wu et al. · 0 citations

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