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Yi-Xiang Li

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#diffusion models Preprint Sep 2026

JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

JEPA Policy is introduced, a diffusion-free framework that uses the action chunk and its observed future representation as paired training targets as paired training targets and supports paired future-representation supervision supervision as a practical approach to low-latency visuomotor imitation without iterative ge...

Jie Xu, Kang-Jin Yu, Zi-Yi Jin et al. · 0 citations

Jul 2026

WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos

WALA, a framework for learning executable latent actions from both action-labeled demonstrations and action-free videos, achieves strong performance on RoboTwin, sets a new state-of-the-art result on RoboCasa, and improves both policy performance and generalization in real-world manipulation tasks.

Jia-Hao Liu, Zhongpu Xia, Shuai Tian et al. · arXiv.org · 1 citation