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Author

Feiyang You

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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
Preprint Aug 2026

When Replanning Becomes the Bottleneck: Budgeted Replanning for Embodied Agents

Embodied agents replan frequently to recover from execution drift, partial observability, and coordination hazards, but each LLM-based replanning call can consume an accumulated textual context that grows over time and across agents. Once this context becomes large, replanning latency develops heavy tails and can miss...

Shuaijun Liu, Feiyang You, Xingwei Chen et al. · 0 citations

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