# Coupled Control and Wireless World Models for Resilient Remote Robotic Control

arXiv: https://arxiv.org/abs/2609.04851 · HTML: https://mlsanity.com/paper/2609.04851/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and robot world models, one of 11 directions in World models.
- Builds on 18 of its 41 references that are in the map.
- First posted on arXiv 4 Sep 2026.

## Placed in

- World models / [Embodied and robot world models](https://mlsanity.com/wm/embodied-and-robot-world-models/)

## Builds on (most cited first, 18 of 18)

- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [Self-Supervised Learning from Images with a Joint-Embedding Predictive Architecture](https://mlsanity.com/paper/2301.08243/) (2023)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [Revisiting Feature Prediction for Learning Visual Representations from Video](https://mlsanity.com/paper/2404.08471/) (2024)
- [DayDreamer: World Models for Physical Robot Learning](https://mlsanity.com/paper/2206.14176/) (2022)
- [Transformers are Sample-Efficient World Models](https://mlsanity.com/paper/2209.00588/) (2022)
- [Persistence Images: A Stable Vector Representation of Persistent Homology](https://mlsanity.com/paper/1507.06217/) (2015)
- [Beyond Transmitting Bits: Context, Semantics, and Task-Oriented Communications](https://mlsanity.com/paper/2207.09353/) (2022)
- [A Vision of 6G Wireless Systems: Applications, Trends, Technologies, and Open Research Problems](https://mlsanity.com/paper/1902.10265/) (2019)
- [Sionna: An Open-Source Library for Next-Generation Physical Layer Research](https://mlsanity.com/paper/2203.11854/) (2022)
- [A Lite Distributed Semantic Communication System for Internet of Things](https://mlsanity.com/paper/2007.11095/) (2020)
- [Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics](https://mlsanity.com/paper/2501.10100/) (2025)
- [Teleoperation of Humanoid Robots: A Survey](https://mlsanity.com/paper/2301.04317/) (2023)
- [From Pixels to CSI: Distilling Latent Dynamics For Efficient Wireless Resource Management](https://mlsanity.com/paper/2506.16216/) (2025)
- [Real-Time Remote Control via VR over Limited Wireless Connectivity](https://mlsanity.com/paper/2406.17420/) (2024)
- [Equivariant Multi-agent Reinforcement Learning for Multimodal Vehicle-to-Infrastructure Systems](https://mlsanity.com/paper/2604.06914/) (2026)

## Built on by (most cited first, 1 of 1)

- [Network-in-the-Loop at Scale: GPU-Batched 5G Simulation for Massively Parallel Robot Learning](https://mlsanity.com/paper/2610.02370/) (2026)

## Abstract (arXiv)

Remote robotic systems operating over wireless networks must maintain reliable control despite limited communication resources, changing channel conditions, and environmental disturbances.However, continuously transmitting high-dimensional sensory observations, such as camera images, increases communication overhead and energy consumption while reducing robustness under unreliable connectivity.To address these challenges, this paper proposes a resilient communication-aware remote robotic control framework based on coupled control and wireless Joint Embedding Predictive Architecture (JEPA) world models that jointly capture robot dynamics and wireless channel evolution from visual observations and a combination of raw and structured radio frequency (RF) representations based on spectrograms and Persistence Images(PIs).The learned latent representations enable predictive communication scheduling by jointly forecasting future robot states and wireless conditions, thereby reducing unnecessary uplink transmissions while maintaining reliable control performance.Furthermore, an adaptive resilience mechanism detects latent prediction discrepancies and efficiently adapts perception embeddings to accommodate wireless and visual environmental changes without retraining the complete control policy.The proposed framework is evaluated in a synchronized Gazebo-Robot Operating System (ROS)-Sionna robot-wireless simulation environment under diverse wireless propagation and perception perturbations.Experimental results demonstrate significant improvements in communication efficiency, robustness, and resilience while maintaining navigation performance compared with conventional Proportional Integral Derivative (PID), model-free Deep Q-Network (DQN), and predictive approaches based on Vision Transformers(ViTs).