Author

Senyu Fei

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Preprint Jul 2026

WCM: A World Critic Model for Vision-Language-Action Reinforcement Learning

The World Critic Model is proposed, built on a lightweight LeJEPA architecture; WCM jointly predicts future latent state and estimates values, such that the critic's representation is explicitly trained to capture temporal dynamics rather than merely regress scalar returns.

Senyu Fei, Xiaopeng Yu, Siyin Wang et al. · 0 citations