نسخة أولية وصول مفتوح
LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC
World action models (WAMs) predict actions and future observations, typically from a reconstruction-based representation that carries noisy, redundant information which can complicate downstream predictions. We introduce LeWAM, a bidirectional transformer for forward, backward, inverse dynamics and policy prediction, o …