Author

Elie Aljalbout

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Preprint Oct 2026

Cross-Embodiment Robot Foundation World Models with Latent Actions

The diversity of robot embodiments and action spaces makes it challenging to build robot world models that generalize across different embodiments. We introduce the Latent Action-Conditioned Robot World Model (LAC-WM), which operates within a learned unified latent action space shared across diverse embodiments. This u...

Huang Huang, Sriram Yenamandra, Arjun Majumdar et al. · 0 citations

#artificial intelligence Preprint Oct 2026

LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC

World action models (WAMs) predict actions and future observations, typically from a reconstruction-based representation that carries noisy, redundant information which can complicate downstream predictions. We introduce LeWAM, a bidirectional transformer for forward, backward, inverse dynamics and policy prediction, o...

Shashank Hegde, Alexander Popov, Elie Aljalbout et al. · 0 citations