FRAPPE: Infusing World Modeling into Generalist Policies via Multiple Future Representation Alignment

作者：Han Zhao, Jingbo Wang, Wenxuan Song, Shuai Chen, Yang Liu, Yan Wang, Haoang Li, Donglin Wang · 单位：Zhejiang University, Westlake University, HKUST (GZ), South China University of Technology, ShanghaiTech University, Tsinghua University · 会议/期刊：arXiv · 日期：2026-02-19 · 来源：Low-Level Learning-Based Action Modelling / Input Modelling / 2D Vision Language Action Models with Auxiliary Tasks - World Model & Visual Prediction / Visual/State Prediction/Generation