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This tutorial clarifies the distinction between world models and action-specific models within robotic AI systems, offering a unified framework to compare major architectures like JEPA and Cosmos. It provides essential context for researchers tracking how predictive modeling evolves from passive observation to active manipulation in embodied intelligence.

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From World Models to World Action Models: A Concise Tutorial for Robotics

arXiv28 iulie 20261 min de cititArticolul și perspectiva sunt în engleză.

arXiv:2607.00836v4 Announce Type: replace-cross Abstract: Rather than providing an exhaustive survey, this paper presents a concise tutorial on world models and world action models for robotics. After reading the tutorial, readers should have a clear understanding of what constitutes a "world", how world models and world action models are defined, and what roles they play within robotic AI systems. The tutorial also develops a unified perspective for comparing representative approaches, such as World Labs' spatial intelligence models, Yann LeCun's JEPA framework, and NVIDIA's Cosmos platform, and clarifies how these models differ in their representations, predictive capabilities, and interaction mechanisms.

Abstract:Rather than providing an exhaustive survey, this paper presents a concise tutorial on world models and world action models for robotics. After reading the tutorial, readers should have a clear understanding of what constitutes a "world", how world models and world action models are defined, and what roles they play within robotic AI systems. The tutorial also develops a unified perspective for comparing representative approaches, such as World Labs' spatial intelligence models, Yann LeCun's JEPA framework, and NVIDIA's Cosmos platform, and clarifies how these models differ in their representations, predictive capabilities, and interaction mechanisms.

Robotics (cs.RO); Artificial Intelligence (cs.AI); Systems and Control (eess.SY)

arXiv:2607.00836 [cs.RO]

(or arXiv:2607.00836v4 [cs.RO] for this version)

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