World Models Inside a Robot Policy: VLAs that Dream

Adding a future-prediction dream step inside a vision-language-action policy: DreamVLA-style future visual state prediction before action selection (arXiv 2507.04447), latent world models in VLAs (VLA-JEPA, arXiv 2602.10098), and a from-scratch build unifying a small VLA policy with a learned world model: imagine consequences, then act.