Author

Michael Schwingshackl

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Preprint Aug 2026

Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals

Latent action world models let agents plan new behaviors at test time by predicting how actions change the environment, and joint-embedding predictive architectures (JEPAs) do so by forecasting future latent states rather than pixels. Yet nearly all such models see the world through a camera, even though robotic manipu...

F. F. Oberweger, Michael Schwingshackl, Markus Murschitz · 0 citations

#artificial intelligence Preprint Aug 2026

Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations

Geometry finally makes a commanded 3D target a natural goal interface: it is constructed the goal latent from the target and the current latent, at no cost in success rate, without a goal observation.

F. F. Oberweger, Michael Schwingshackl, Website Code · 0 citations