Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning

Action-conditioned JEPA world models enable planning toward visually specified goals without reconstructing future pixels, yet latent prediction alone does not explicitly encourage the learned representations to retain information relevant to robotic control. We introduce an end-to-end JEPA world model that augments latent prediction with inverse dynamics (IDM) and state alignment (SA). While inverse dynamics discourages latent collapse and makes latent transitions informative of the actions that produced them, state alignment grounds consecutive representations in their associated physical configuration and motion. Across four benchmark tasks, our model attains the highest success rates on TwoRoom (100%), PushT (98%), and OGBench-Cube (87%), while performing comparably to LeWorldModel on Reacher. Our ablation further shows that adding state alignment consistently improves planning success over IDM alone across all four tasks. Although LeWorldModel, our primary baseline, attains higher average straightening on OGBench-Cube, transition-subspace analysis shows that its transition energy is concentrated in a substantially lower-dimensional subspace. Our state-aligned model exhibits a higher effective transition dimension than LeWorldModel and improves planning over IDM alone, supporting state alignment as an effective complement to inverse dynamics for robotic planning.

How China-Origin Vision-Language Models Move from Refusal to Reframing in State Alignment

State-aligned distortion has been documented in China-origin text-based large language models (LLMs), but whether, and in what form, it arises in multimodal systems has not been systematically examined. We construct a balanced benchmark of 200 core entries spanning ten politically sensitive topics, plus a seven-variant visual-abstraction probe, and run nine vision-language models (VLMs), seven China-origin and two non-China, across four elicitation paradigms and two prompt languages, yielding 21,708 trials. Each response is audited on six dimensions -- explicit refusal, information integrity, visual grounding, state-aligned framing, language consistency, and response length -- by two independent frontier LLM judges, validated against three human experts on a 200-trial sample. Measuring each dimension separately lets us decompose multimodal censorship into individual signals rather than a single refusal-based score; in particular, refusal and framing are measured independently, so a model can stop refusing while still reframing. We find that (i) Chinese-language prompting roughly triples the odds of state-aligned framing, within every model; (ii) China-origin models reframe more than non-China models (direction robust across judges and human raters; magnitude 1.6--3.2x); (iii) the effect is strongest in text-only political commentary (36.5%) and is gated by recognition of the depicted subject rather than pixel detail, persisting even at silhouette for iconic images; and (iv) across four Qwen generations, state-aligned framing rises while explicit refusal falls: censorship migrates from a visible act (refusal) to an invisible one (fluent reframing). We argue this shift to invisible reframing is fundamentally a problem of human-AI interaction: it removes the very signal users rely on to recognize that information has been withheld.

ASALT: Adaptive State Alignment for Lateral Transfer in Multi-agent Reinforcement Learning

Multi-agent reinforcement learning (MARL) addresses the problem of training multiple agents that pursue collaborative, competitive, or mixed objectives. Prior work has investigated transfer learning between source and target domains in MARL; however, the majority of existing approaches impose the constraint that the dimensionalities of the observation space and the global state space must be identical across domains. In this paper, we introduce a method that explicitly accommodates mismatched state-space dimensionalities between source and target domains. The proposed approach, ASALT, incorporates both observation-level and state-level adapters that map the target-domain observations and global states into a shared embedding space, thereby enabling more effective transfer of knowledge across both actors and critics. These adapters can generate embeddings that support efficient strategy transfer across heterogeneous domains. Experimental results on multiple configurations in standard benchmark environments demonstrate that ASALT surpasses existing baselines in terms of sample efficiency and global return in cooperative settings, but its effectiveness depends on the degree of mismatch between source and target domains. Furthermore, our findings indicate that ASALT mitigates negative transfer, which frequently constitutes a major obstacle when transferring policies between domains with differing observation and action spaces.