{"id":"https://openalex.org/W7166829667","doi":"https://doi.org/10.48550/arxiv.2606.31232","title":"Delta-JEPA: Learning Action-Sensitive World Models via Latent Difference Decoding","display_name":"Delta-JEPA: Learning Action-Sensitive World Models via Latent Difference Decoding","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166829667","doi":"https://doi.org/10.48550/arxiv.2606.31232"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.31232","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.31232","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139765201","display_name":"Zhenghao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhenghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139740376","display_name":"Yuanxiang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuanxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139845488","display_name":"Zhenyu Guan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Zhenyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139810807","display_name":"Yujia Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yujia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101271961","display_name":"Bingkang Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Bingkang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092346272","display_name":"Tianyu Zong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zong, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100909481","display_name":"He Yi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi, Hongzhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139828861","display_name":"Guoqing Chao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chao, Guoqing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067727958","display_name":"Xingchen Chen","orcid":"https://orcid.org/0000-0003-3432-7469"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xingchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124925321","display_name":"Tiankun Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Tiankun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124934185","display_name":"Chenxi Bao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Chenxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139788995","display_name":"Tao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139655970","display_name":"Jingjing Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jingjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139845414","display_name":"Jungang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Jungang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.32659998536109924,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.32659998536109924,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.13189999759197235,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.07509999722242355,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.65829998254776},{"id":"https://openalex.org/keywords/decoding-methods","display_name":"Decoding methods","score":0.6105999946594238},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41040000319480896},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3409999907016754},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.3264999985694885},{"id":"https://openalex.org/keywords/probabilistic-latent-semantic-analysis","display_name":"Probabilistic latent semantic analysis","score":0.3142000138759613}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.65829998254776},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.599399983882904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5679000020027161},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41040000319480896},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34209999442100525},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.3264999985694885},{"id":"https://openalex.org/C112933361","wikidata":"https://www.wikidata.org/wiki/Q2845258","display_name":"Probabilistic latent semantic analysis","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2687999904155731},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.31232","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.31232","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6720576286315918,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Learning":[0],"visual":[1,110],"world":[2,30,120,161],"models":[3],"for":[4,91,157],"planning":[5,115],"requires":[6],"compact":[7],"latent":[8,34,61,89,97,142,149],"dynamics":[9],"that":[10,32,47,125,147],"remain":[11],"sensitive":[12],"to":[13,21,86],"actions,":[14],"yet":[15],"reconstruction-free":[16,29],"joint-embedding":[17],"objectives":[18],"can":[19],"collapse":[20,76],"action-insensitive":[22],"representations.":[23],"We":[24],"propose":[25],"Delta-JEPA,":[26],"an":[27],"end-to-end":[28],"model":[31,121,162],"augments":[33],"forward":[35],"prediction":[36,98],"with":[37],"a":[38,152],"Latent":[39],"Difference":[40],"Action":[41],"Decoder":[42],"(LDAD).":[43],"Unlike":[44],"inverse":[45],"decoders":[46],"infer":[48],"actions":[49,83],"from":[50,59],"concatenated":[51],"endpoint":[52,134],"embeddings,":[53],"LDAD":[54],"reconstructs":[55],"the":[56,60],"executed":[57],"action":[58,79,100,127],"displacement":[62],"between":[63],"consecutive":[64],"observations.":[65],"This":[66],"displacement-level":[67],"supervision":[68],"directly":[69],"regularizes":[70],"transition":[71],"geometry:":[72],"adjacent":[73],"embeddings":[74],"cannot":[75],"without":[77],"losing":[78],"information,":[80],"and":[81,99,105,118,136,154,159],"different":[82],"are":[84],"encouraged":[85],"induce":[87],"distinguishable":[88],"changes":[90],"rollout-based":[92],"planning.":[93],"Delta-JEPA":[94,113],"uses":[95],"only":[96],"reconstruction,":[101],"avoiding":[102],"pixel":[103],"reconstruction":[104],"distribution-matching":[106],"regularizers.":[107],"Across":[108],"four":[109],"continuous-control":[111],"tasks,":[112],"improves":[114],"over":[116],"JEPA-based":[117],"representation-learning":[119],"baselines.":[122],"Ablations":[123],"show":[124,139],"displacement-based":[126],"decoding":[128],"is":[129,151],"consistently":[130],"more":[131],"effective":[132,155],"than":[133],"concatenation,":[135],"action-sensitivity":[137],"analyses":[138],"clearer":[140],"action-conditioned":[141],"responses.":[143],"These":[144],"results":[145],"indicate":[146],"supervising":[148],"differences":[150],"simple":[153],"mechanism":[156],"collapse-resistant":[158],"action-sensitive":[160],"learning.":[163]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}