This repository contains model artifacts for
WCM (World Critic Model), presented in
WCM: A World Critic Model for Vision-Language-Action Reinforcement Learning.
WCM is a history-aware critic for partially observable robot control. Built on a lightweight LeJEPA architecture, WCM jointly learns to estimate the value of the current state and predict the next latent state, equipping Vision-Language-Action (VLA) reinforcement learning with a representation explicitly trained to capture temporal dynamics rather than merely regressing scalar returns.
1@misc{fei2026wcmworldcriticmodel,
2 title={WCM: A World Critic Model for Vision-Language-Action Reinforcement Learning},
3 author={Senyu Fei and Xiaopeng Yu and Siyin Wang and Xianzhong Zhao and Jingjing Gong and Xipeng Qiu},
4 year={2026},
5 eprint={2607.29613},
6 archivePrefix={arXiv},
7 primaryClass={cs.RO},
8 url={https://arxiv.org/abs/2607.29613},
9}
