LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation

World-action modeling has emerged as a promising paradigm for robotic control, as it empowers models to go beyond reacting to observations and anticipate how a scene will evolve. However, existing WAMs often incur substantial computational overhead. Pixel-space methods often allocate substantial capacity to visual details that may not be directly relevant to control, while some latent-space methods require multi-stage training to construct the reasoning space. The resulting training cost can make such methods difficult to train under modest computational budgets. In this work, we propose LiLa-WAM, a lightweight world-action model that reasons about the future in a compact latent space and can be trained end-to-end on a single 24GB GPU. Its core design is a compact latent reasoning space jointly shaped by future-state prediction and action generation, which keeps the model lightweight while remaining well aligned with control. For task specification, we further propose the Visual Transition Token(VTT), a language-free task representation that encodes each task as a direction in visual feature space. Experiments on RoboTwin~2.0, LIBERO, and real-robot tasks demonstrate LiLa-WAM's effectiveness, achieving 90.48\% success across 50 RoboTwin tasks with single-GPU training.

Patient-Conditioned Dual Hypergraph Reasoning for Auditable Traditional Chinese Medicine Prescription Support

Traditional Chinese medicine (TCM) prescription support requires patient-specific reasoning from clinical narratives to syndromes, treatment principles, herbs, and doses. Direct language-model generation can produce fluent prescriptions, but its decisions are difficult to audit against explicit clinical evidence. Static TCM knowledge resources provide useful priors, but they cannot determine which diagnostic and prescription relations should be emphasized for an individual patient. We propose a patient-conditioned dual hypergraph framework for auditable TCM prescription support. The first hypergraph organizes symptom, tongue, pulse, and other clinical evidence around syndrome and treatment-principle reasoning. The second hypergraph organizes syndrome, treatment, disease-context, herb, retrieval, and dose-prior evidence for prescription construction. Unlike static knowledge graphs or fixed hypergraphs, both hypergraphs are dynamically weighted by the patient representation. This design enables individualized activation of diagnostic and prescription paths, supporting personalized syndrome differentiation and herb-dose recommendation while preserving case-level auditability. Experiments on TCM-SD show that dynamic weighting in the first hypergraph improves MacBERT syndrome differentiation to 0.8297 accuracy and 0.3288 macro-F1. On TCM-BEST4SDT, the second hypergraph achieves the best mean Herb-F1 of 0.3111 across three seeds, and the full connected pipeline reaches 0.3074 Herb-F1, close to the oracle setting. A 50-case real-world CAP audit further suggests practical review potential, while highlighting the need for prospective dose-safety validation.

Liquid Latent State Dynamics for Interpretable Turbofan Degradation Modeling

Multivariate time-series models for prognostics are often evaluated by point prediction accuracy, yet their internal states rarely expose a coherent degradation process. We study liquid neural networks as latent dynamics models for aircraft engine health monitoring on the C-MAPSS benchmark. The proposed model encodes a history window into a latent state, evolves that state with a liquid transition model, and decodes future sensor observations. To separate health evolution from operating-condition variation, the latent state is factorized into degradation and condition components. Remaining useful life, monotonic risk, and latent-consistency losses supervise the degradation component, while condition prediction and decorrelation losses discourage operating-condition leakage. Across FD001--FD004, the full disentangled model improves overall sensor forecasting RMSE from 0.2438 for a GRU baseline to 0.2266, with the largest gains on the multi-condition subsets FD002 and FD004. The learned degradation state also forms a clearer temporal degradation axis, reaching an average state-speed Spearman correlation of 0.5960. Direct remaining-useful-life regression remains stronger for the GRU baseline, indicating that the proposed representation is currently more effective as an interpretable world model for degradation dynamics than as a calibrated lifetime regressor. These results suggest that liquid latent dynamics can bridge predictive maintenance forecasting and inspectable health-state modeling.

Prototype Latent World Model Replay for Class-Incremental Learning

Class-incremental learning requires a model to learn new classes while preserving decision regions for old ones. This is difficult when raw old samples are no longer available. We propose Prototype Latent World Model Replay, a memory-free framework that stores old classes as distributions over stable hidden states rather than as images. A frozen ImageNet-pretrained encoder maps each image into a latent state space. In this space, each class is summarized by several prototype-centered distributions with class-specific variances. When new classes arrive, the model samples old latent states from this prototype world model. It then trains a lightweight adapter and classifier using both sampled old states and real new-class features. We also add a supervised contrastive term in the adapter space to promote intra-class compactness and old-new class separation. On Split CIFAR-100, our method improves over fine-tuning under Inc5, Inc10, and Inc20 without storing raw exemplars. The full Ours-LWM+Con model raises LastAcc from 4.55% to 31.64%, from 9.06% to 37.06%, and from 16.96% to 43.10% in Inc5, Inc10, and Inc20, respectively. It also achieves AvgAcc of 45.86%, 52.19%, and 56.18%. Ablation and retention analyses show that stable latent-state replay is the main source of the gain. Contrastive separation further refines the old-new geometry. These results suggest that prototype latent memory preserves reusable class-state distributions, rather than only fitting the current classifier.

Hypergraph Normal World Models for Logical Visual Anomaly Detection

Visual anomaly detection is often deployed with only normal training images. Most one-class detectors map test patches or features to a normal reference distribution. This works well for local structural defects. Logical anomalies are different. Each visible part may look normal, while the whole image violates a normal count, co-occurrence, or spatial relation. This paper studies whether a model can learn such a category-specific normal world from nominal images alone. We propose the Hypergraph Normal World Model, a normal-only detector that distills frozen DINOv2 patch tokens into patch, relation, and hypergraph statistics. It builds spatial hyperedges over token groups. It then scores each test image with an information quotient that separates local, relational, hyperedge, and hyperedge-relation evidence. On the available MVTec LOCO breakfast-box validation data, the full hypergraph model improves logical anomaly AUROC from 0.8434 for DINOv2 patch-kNN to 0.9279. It also improves over the non-hypergraph variant, from 0.9013 to 0.9279. Few-shot experiments show that the model remains effective with very limited normal images. We also test whether the score reflects normal-world knowledge rather than a shallow mapping. t-SNE separates logical anomalies in the learned energy space. Relation counterfactuals increase the information quotient by 83.13 on average. Random hypergraphs reduce logical AUROC, and hyperedge attribution is much larger on logical anomalies. Qualitative examples show that high scores are driven by relation-bearing terms. These results suggest that logical visual anomaly detection should model normal relations, not only normal local patches.

Learning a Normal World Model for Few-Shot Boundary-Calibrated Abnormality Detection

Abnormality detection in complex systems faces two practical barriers: abnormal labels are scarce, and binary labels do not quantify how far an event has departed from normal behavior. We study a normal-world modeling formulation for this setting. Instead of learning a large and incomplete space of abnormal classes, the model learns the normal world from abundant normal events and uses a few abnormal examples only to calibrate the boundary of normality. We instantiate this idea as a Hypergraph Entropic Normal-World Model. The model represents multivariate sensor windows as context-conditioned hypergraphs, where hyperedges capture high-order relations among groups of variables. It then defines abnormality by an entropy-aware normal-world energy that combines temporal prediction surprise, hypergraph consistency surprise, and latent normal-manifold departure. On the NASA C-MAPSS turbofan degradation benchmark, the proposed full energy achieves strong zero-shot and few-shot performance across all four subsets and reaches AUROC 0.9983 on FD004, the most complex setting with multiple operating conditions and fault modes. Beyond standard detection metrics, we introduce mechanistic validation tests to probe whether the energy encodes normal-world structure rather than a superficial input-output mapping. The learned energy accepts unseen healthy engines, increases along degradation trajectories, and sharply penalizes context-mismatched cross-variable coupling breaks. These results suggest that normal-world energy can serve as an anomaly score, a graded risk measure, and a testable representation of normal system behavior under severe abnormal-label scarcity.

Phys-JEPA: Physics-Informed Latent World Models for Multivariate Time-Series Forecasting

Multivariate forecasting in physical systems requires models that predict coupled temporal variables while preserving meaningful state evolution. Deep forecasters can fit temporal correlations, and physics-informed models can regularize predictions with scientific constraints, but these directions are often connected only at the decoded-output level. As a result, the hidden predictive state that generates future trajectories may remain statistically useful but physically unstructured. We introduce Phys-JEPA, a physics-informed joint-embedding predictive architecture for multivariate time-series forecasting. Phys-JEPA learns a latent world model in which predictive states are decomposed into physical and residual components, and physical consistency is imposed directly on latent states and latent transitions rather than only on decoded forecasts. This formulation uses known physical variables to organize the representation space while retaining residual capacity for unresolved dynamics. On Jena Climate 2009--2016, Phys-JEPA reduces aggregate MSE from 0.12482 to 0.12273 and temperature MSE from 0.01892 to 0.01831 at H=24. On Traffic, full Phys-JEPA improves aggregate MSE over the supervised baseline across all tested horizons, reducing H=192 MSE from 0.800784 to 0.773873. On Electricity, the best variant depends on horizon: static latent consistency is strongest at H=24 and H=48, while full Phys-JEPA gives the best aggregate and target-variable MSE at H=192. These initial results suggest that moving physics-informed learning from output space to latent predictive state space is a promising direction for interpretable temporal world models.

Dual Causal Inference: Integrating Backdoor Adjustment and Instrumental Variable Learning for Medical VQA

Medical Visual Question Answering (MedVQA) aims to generate clinically reliable answers conditioned on complex medical images and questions. However, existing methods often overfit to superficial cross-modal correlations, neglecting the intrinsic biases embedded in multimodal medical data. Consequently, models become vulnerable to cross-modal confounding effects, severely hindering their ability to provide trustworthy diagnostic reasoning. To address this limitation, we propose a novel Dual Causal Inference (DCI) framework for MedVQA. To the best of our knowledge, DCI is the first unified architecture that integrates Backdoor Adjustment (BDA) and Instrumental Variable (IV) learning to jointly tackle both observable and unobserved confounders. Specifically, we formulate a Structural Causal Model (SCM) where observable cross-modal biases (e.g., frequent visual and textual co-occurrences) are mitigated via BDA, while unobserved confounders are compensated using an IV learned from a shared latent space. To guarantee the validity of the IV, we design mutual information constraints that maximize its dependence on the fused multimodal representations while minimizing its associations with the unobserved confounders and target answers. Through this dual mechanism, DCI extracts deconfounded representations that capture genuine causal relationships. Extensive experiments on four benchmark datasets, SLAKE, SLAKE-CP, VQA-RAD, and PathVQA, demonstrate that our method consistently outperforms existing approaches, particularly in out-of-distribution (OOD) generalization. Furthermore, qualitative analyses confirm that DCI significantly enhances the interpretability and robustness of cross-modal reasoning by explicitly disentangling true causal effects from spurious cross-modal shortcuts.

Learning to Trim: End-to-End Causal Graph Pruning with Dynamic Anatomical Feature Banks for Medical VQA

Medical Visual Question Answering (MedVQA) models often exhibit limited generalization due to reliance on dataset-specific correlations, such as recurring anatomical patterns or question-type regularities, rather than genuine diagnostic evidence. Existing causal approaches are typically implemented as static adjustments or post-hoc corrections. To address this issue, we propose a Learnable Causal Trimming (LCT) framework that integrates causal pruning into end-to-end optimization. We introduce a Dynamic Anatomical Feature Bank (DAFB), updated via a momentum mechanism, to capture global prototypes of frequent anatomical and linguistic patterns, serving as an approximation of dataset-level regularities. We further design a differentiable trimming module that estimates the dependency between instance-level representations and the global feature bank. Features highly correlated with global prototypes are softly suppressed, while instance-specific evidence is emphasized. This learnable mechanism encourages the model to prioritize causal signals over spurious correlations adaptively. Experiments on VQA-RAD, SLAKE, SLAKE-CP and PathVQA demonstrate that LCT consistently improves robustness and generalization over existing debiasing strategies.

Unlabeled Cross-Center Automatic Analysis for TAAD: An Integrated Framework from Segmentation to Clinical Features

Type A Aortic Dissection (TAAD) is a life-threatening cardiovascular emergency that demands rapid and precise preoperative evaluation. While key anatomical and pathological features are decisive for surgical planning, current research focuses predominantly on improving segmentation accuracy, leaving the reliable, quantitative extraction of clinically actionable features largely under-explored. Furthermore, constructing comprehensive TAAD datasets requires labor-intensive, expert level pixel-wise annotations, which is impractical for most clinical institutions. Due to significant domain shift, models trained on a single center dataset also suffer from severe performance degradation during cross-institutional deployment. This study addresses a clinically critical challenge: the accurate extraction of key TAAD clinical features during cross-institutional deployment in the total absence of target-domain annotations. To this end, we propose an unsupervised domain adaptation (UDA)-driven framework for the automated extraction of TAAD clinical features. The framework leverages limited source-domain labels while effectively adapting to unlabeled data from target domains. Tailored for real-world emergency workflows, our framework aims to achieve stable cross-institutional multi-class segmentation, reliable and quantifiable clinical feature extraction, and practical deployability independent of high-cost annotations. Extensive experiments demonstrate that our method significantly improves cross-domain segmentation performance compared to existing state-of-the-art approaches. More importantly, a reader study involving multiple cardiovascular surgeons confirms that the automatically extracted clinical features provide meaningful assistance for preoperative assessment, highlighting the practical utility of the proposed end-to-end segmentation-to-feature pipeline.