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LeHami: Symplectic Latent Dynamics for World Models

Yalovetzky, Romina et al.
arXiv (All) · Papers
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artificial-intelligencemachine-learningrobotics
Joint-embedding predictive architectures (JEPAs) learn world models directly in latent space, but unconstrained autoregressive predictors may contract the latent distribution over long rollouts. We introduce Symplectic Hamiltonian JEPA (LeHami), which replaces the standard predictor with an action-c
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