Author

Tsung-Yen Yang

2 papers indexed here

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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 Dec 2025

What Drives Success in Physical Planning with Joint-Embedding Predictive World Models?

This work characterize models from this family of methods as JEPA-WMs and investigates the technical choices that make algorithms from this class work, and proposes a model that outperforms two established baselines, DINO-WM and V-JEPA-2-AC, in both navigation and manipulation tasks.

Basile Terver, Tsung-Yen Yang, Jean Ponce et al. · Trans. Mach. Learn. Res. · 49 citations · ⚡7