World Model-Based Planning

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49 papers in the last four weeks, up 145% on the four weeks before. 0.5% of all new papers.

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Latest papers 180

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RoboJEPA: Scaling Robotic Latent World Models
Oct 7, 2026Artem Zholus, Nicolas Beltran-Velez, Jianhao Yuan +9World Models Latent World Models
FAIR at Meta · Chandar Research Lab · Mila - Quebec AI Institute +2
Sparse Planning in Visual World Models via Cost Gradients
Oct 7, 2026Yingchen Xu, Edward GrefenstetteWorld Model-Based Planning Token Pruning
University College London
Controllable Crowd Generation through World-Model Planning
Oct 7, 2026JunGyu Lee, Jisu Shin, Seunghyun Shin +1Human Behavior Simulation Pedestrian Behavior Modeling
Yonsei University · GIST
SearchWorld: Spatial Value-Grounded Imagination for UAV Object Search via World Models
Oct 7, 2026Yatai Ji, Zhengqiu Zhu, Yong Zhao +5World Model-Based Planning World Model Learning
National Key Laboratory of Digital Intelligent Modeling and Simulation, National University of Defense Technology · College of Systems Engineering, National University of Defense Technology · Aerospace Information Research Institute, Chinese Academy of Sciences +2
How Much Planning Is Enough? Reducing Search and Computation in World-Model Planning
Oct 6, 2026Changbai Li, Sirui Li, Yichen Yang +4World Model-Based Planning Efficient Inference for World Action Models
Beihang University · Chengdu University of Technology · Nanyang Technological University
Modeling Latent Disturbances for Robust Decision-Making in World Models
Oct 6, 2026Junwon Seo, Andrea BajcsyRobot Policy Learning World Model-Based Planning
The authors are with the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
H-JEPA: End-to-End Learning of Hierarchical World Models for Visual Planning
Oct 5, 2026Wancong Zhang, Basile Terver, Michael Rabbat +2World Models for Robotics World Models
NYU · Advanced Machine Intelligence · INRIA Paris +1
Mind the Execution Gap: Action-Semantic Mismatch in World-Model Control
Oct 5, 2026Shengtao Wen, Xiang Chen, Yu Tian +3World Model-Based Planning Action-Conditioned World Models
Nanjing University of Aeronautics and Astronautics, Nanjing, China · Tsinghua University, Beijing, China · Nanjing University, Nanjing, China
Ultrasound Operator Guidance Using World Modeling and Retrieval Based Action Planning
Oct 5, 2026Noortje I. P. Schueler, Hans van Gorp, Ruud J. G. van SlounWorld Model-Based Planning Ultrasound Imaging
Department of Electrical Engineering, Eindhoven University of Technology, 5612 AZ Eindhoven, The Netherlands
EpicWorldModel: Exploration-driven Planning with Latent World Models
Oct 5, 2026Bowen Feng, Julian Ost, May Mei +2Partially Observable RL World Model-Based Planning
Princeton University · Torc Robotics
When Low Prediction Error Misleads Planning: Diagnosing Representation, Dynamics, and Decision Failures in Latent World Models
Oct 4, 2026Rui Min, Xianyao Li, Fang Xu +1World Model-Based Planning Action-Conditioned World Models
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA · Department of Civil and Coastal Engineering, University of Florida, Gainesville, FL 32611, USA
FLEX-WAM: Flexible Block-Causal World-Action Models for Long-Horizon Imagination and Planning
Oct 4, 2026R. Khorrambakht, Joseph Amigo, Félix Lebel +4World Model-Based Planning Action-Conditioned World Models
Center for Robotics and Embodied Intelligence (CREO), New York University · Courant Institute of Mathematical Sciences and Center for Data Science, New York University · Ecole normale supérieure - PSL +2
How Long, Not How Close: A Learned Temporal Metric for Planning in Latent World Models
Oct 4, 2026Lama Moukheiber, Haotian Xue, Yongxin ChenWorld Model-Based Planning Long-Horizon Planning
Georgia Institute of Technology
Learning Commute-Time-Preserving World Models for Planning
Oct 1, 2026Michael Hauri, Peter Buttaroni, Fabian A. Mikulasch +1Representation Learning World Model Learning
Friedrich Miescher Institute for Biomedical Research, Basel, Switzerland · Faculty of Science, University of Basel, Switzerland
Supervise What Decides Success: Criterion-Aligned Auxiliary Losses for Latent World-Model Planning
Oct 1, 2026Takumi Hara, Kanata SuzukiWorld Model Learning World Models for Robotics
Kyoto University Kyoto, Japan · Fujitsu Limited Kanagawa, Japan
Network World Models as Environments for Algorithm Design on Complex Systems
Oct 1, 2026Rishab Alagharu, Hongji Pu, Zeeshan Memon +3Automated Algorithm Discovery World Model-Based Planning
Emory University · University of Illinois Urbana-Champaign
JEPA-TTT: Persistent Test-Time Training of Latent World Models for Planning under Dynamics Shifts
Sep 30, 2026Zheyuan Zhang, Suyu Ye, Nakul Agarwal +5Test-Time Adaptation Latent Dynamics Modeling
Honda Research Institute USA · Johns Hopkins University
Social-WM: Safety-Aware Latent World Models for Robot Social Navigation
Sep 30, 2026Zhihao Zheng, Mooi Choo ChuahWorld Models for Robotics World Model-Based Planning
Computer Science and Engineering department, P.C. Rossin College of Engineering and Applied Science, Lehigh University, Bethlehem, PA 18015, USA.
Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models
Sep 30, 2026Kowndinya Boyalakuntla, Yuhan Liu, Abdeslam BoulariasRobotic Control World Models for Robotics
Rutgers University
The Planning Limits of Latent World Models
Sep 30, 2026Ali Alrasheed, Basim Azam, Naveed AkhtarWorld Model-Based Planning Action-Conditioned World Models
The University of Melbourne, Australia
DeepJEPA: Scaling World Models from Within
Sep 30, 2026Zijian Jin, Yunbei Zhang, Yuanzhe Liu +5World Model Learning World Model-Based Planning
New York University · Tulane University · UIUC +4
Beyond Prediction: Steering VLM Agents with Retrospective World Modeling
Sep 30, 2026Yongjiang Liu, Jie Zhang, Haoyue Zhang +3World Model Learning World Models
The Hong Kong University of Science and Technology · The Hong Kong Polytechnic University · China University of Geoscience
Beyond a single latent space: a dual-latent world model for long-horizon planning
Sep 29, 2026Delin Zhao, Zhengrong Yue, Shaobin Zhuang +6World Model-Based Planning Action-Conditioned World Models
Nanjing University · Shenzhen University of Advanced Technology · Shanghai Jiao Tong University +1
Anisotropic Representations Improve Planning in JEPA World Models
Sep 29, 2026Mingu Kang, Yoori Oh, Sookyung Kim +1Representation Learning World Model-Based Planning
Seoul National University · Ewha Womans University
Lucid Dreaming for World Models: Learning to Doubt Imagination and Decide by Trust
Sep 29, 2026Ziqi Wen, Ting Xu, Lianyu Wang +5Uncertainty Quantification World Model-Based Planning
Centre for Innovation and Precision Eye Health, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119228, Singapore · Department of Ophthalmology, Yong Loo Lin School of Medicine, National University of Singapore, Singapore 119228, Singapore · Bioengineering Program, Biomedical Sciences Division (BioMed), King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia +3
World4Scorer: Outcome-Grounded World Modeling for Autonomous Driving
Sep 29, 2026Jieyuan Pei, Meiyi Lu, Sining Ang +12World Model-Based Planning World Models for Autonomous Driving
Institute for AI Industry Research (AIR), Tsinghua University · HiThink Research · The Hong Kong University of Science and Technology (Guangzhou) +8
ATLAS: Aligned Transport of Latent Structure for Reliable World Model Planning
Sep 28, 2026Ke Fang, Yupu Yao, Lu ChengWorld Models World Model-Based Planning
Pennsylvania State University
Bilinear World Models: Learning Representations with Structured Dynamics for Efficient Control
Sep 28, 2026Antonio Pariente, Ignacio Boero, Nikolai Matni +1Dynamical Systems World Model Learning
University of Pennsylvania
Control-Geometry Straightening for Sampling-Based Latent Planning
Sep 28, 2026Ziang Fu, Ning NingRepresentation Learning World Models for Robotics
Texas A&M University
Revision, Not Restart: Revisable Visual Plans for Closed-Loop World-Action Models
Sep 28, 2026Pengyiang Liu, Junbo Niu, Wenhao Zheng +5World Models for Robotics World Model-Based Planning
Beihang University · Peking University

Oct 7, 2026, cs.AIJ/K move · Enter open · S save

RoboJEPA: Scaling Robotic Latent World Models

Artem Zholus, Nicolas Beltran-Velez, Jianhao Yuan, Sarath Chandar+8

FAIR at Meta · Chandar Research Lab · Mila - Quebec AI Institute+2

World Models Latent World Models World Model-Based Planning World Model Evaluation Joint-Embedding Predictive Architecture Cross-Embodiment Robot Learning

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Latent world models have shown a remarkable ability to predict future states and to plan in the real world. In practice, however, we lack a principled way to estimate how their capabilities scale with model size, data, and compute, an open problem that slows progress in the field. In this work we present RoboJEPA, a world model based on the Joint Embedding Predictive Architecture (JEPA) and trained on a large-scale dataset spanning 12 robotic embodiments. We show that RoboJEPA's imagination error, the error of its latent rollouts, follows a second-order power law in compute, allowing us to predict model quality well beyond the scale at which the law is fit. We further show that downstream robotic planning performance improves predictably with compute, and that imagination error is strongly correlated with it, making it a reliable proxy for real-robot evaluation. Finally, we demonstrate that latent world models can be deployed zero-shot as robotic agents, planning toward a single goal image to solve tasks requiring long-horizon planning on real hardware. We release all model checkpoints together with our training and robot deployment code. To our knowledge, this is the first work to establish scaling laws for multi-embodiment robotic world models trained on real robot data, and RoboJEPA, at 8B parameters, is the largest JEPA predictor model trained to date.

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