Hao-Yang Li

BeJEPA: A Goal-Conditioned Humanoid Behavior World Model via Unsupervised RL

Humanoid control requires coordinating whole-body posture with position and heading in the world frame. Mainstream controllers imitate trajectories in the root frame, but struggle to regain the target world pose after displacement. We introduce BeJEPA, a goal-conditioned Behavior World Model learned through unsupervise...