# Planning changes raise LeWM simulation success from 22% to 85%

_Published Friday, November 13, 2026 at 3:18 PM EST · Robotics · Latest · Tier 2 — Notable_

![After 600 experiments, here's what I discovered about JEPA world models — Primary](https://haddyalchaer.com/images/stories/jepa-thumbs/planning.png)

A researcher reports raising LeWM's success rate on long-horizon simulated robot tasks from 22% to 85% without retraining the model. The experiments used Push-T, in which a robot pushes a T-shaped block into a target position, with goals 75 steps away.

The method divides planning into shorter segments and selects intermediate goals from a graph of about 460,000 embedded states from training demonstrations. Penalizing jumps between demonstrations helped avoid physically implausible paths. The 85% result covered the same 250 long-horizon tasks and matched a planner given intermediate goals from expert demonstrations; the tests were conducted in simulation.

## Sources

- [haddyalchaer.com](https://haddyalchaer.com/jepa)

---
Canonical: https://techandbusiness.org/newswire/9u8rilVoU7Snr-adYjl_WM
Published: 2026-11-13T20:18:53.270Z
Story chronology: 2026-11-11T12:00:00.000Z
Retrieved: 2026-11-13T23:13:56.357Z
Publisher: Tech & Business (techandbusiness.org)