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arXiv · 2606.32026

AdaJEPA: An Adaptive Latent World Model

Ying Wang·Oumayma Bounou·Yann LeCun·Mengye Ren
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Abstract

Latent world models enable planning from high-dimensional observations by predicting future states in a compact latent space. However, these models are typically kept frozen at test time: when their predictions become inaccurate, planning can fail, especially under test-time distribution shift. To address this, we propose AdaJEPA, an adaptive latent world model that performs test-time adaptation within the closed loop of model predictive control (MPC). After training, AdaJEPA plans and executes the first action chunk, uses the observed next-state transition as a self-supervised adaptation signal, and replans with the updated model. This closed-loop update continuously recalibrates the world model without additional expert demonstrations. Across a range of goal-reaching tasks, AdaJEPA substantially improves planning success with as few as one gradient step per MPC replanning step.

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Ying Wang, Oumayma Bounou, Yann LeCun, Mengye Ren. 2026-06-30. AdaJEPA: An Adaptive Latent World Model. https://arxiv.org/abs/2606.32026

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