Author

Xin Wang

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2026

Enfold: Folding World-Generator Computation into Predictive Representations for Efficient Embodied Control

Enfold is presented, which transfers this computation into a representation predicted from the current visual context and language instruction, and recast a world generator as a source of predictive control representations: its future need not be materialized at every step if its internal structure can be enfolded into...

Wei-Li Zeng, Yi-Tong Xing, Fu-Long Liu et al. · arXiv.org · 0 citations

Preprint Jul 2026

Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Control

This work presents Enfold, which transfers this computation that constructs a future into a representation predicted from the current visual context and language instruction, and recast a world generator as a source of predictive control representations if its internal structure can be enfolded into the present.

Wei-Li Zeng, Yi-Tong Xing, Fu-Long Liu et al. · 1 citation