Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning
Action-conditioned JEPA world models enable planning toward visually specified goals without reconstructing future pixels, yet latent prediction alone does not explicitly encourage the learned representations to retain information relevant to robotic control. We introduce an end-to-end JEPA world model that augments la...
Mu-Yuan Liu, Yue-Ning Huang, Zhe Liang et al.
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