Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals

arXiv:2608.29434 · cs.LG, cs.AI, cs.CV · Submitted 2026-08-29 · Read on arXiv

cs.LG, cs.AI, cs.CV

Submitted: 2026-08-29

Updated: 2026-09-28

Terminology

• World Model — 42× in this paper · explained in 7 episodes
• Point Clouds — 14× in this paper · explained in 2 episodes
• Benchmark — 13× in this paper · explained in 2 episodes
• Transformer — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Latent Space — 5× in this paper · explained in 7 episodes
• Decode — 3× in this paper · explained in 2 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• In International Conference on Learning Representations — 2× in this paper
• Latent Dynamics — 2× in this paper · explained in 2 episodes
• Self-Supervised Learning — 2× in this paper · explained in 7 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Latent World Models — 1× in this paper · explained in 2 episodes
• Linear probe — 1× in this paper · explained in 2 episodes
• Modality Gap — 1× in this paper · explained in 4 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Self-consistency — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• alpha — 1× in this paper · explained in 1 episode

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