La-JEPA: Compact Robot Policies with Latent World Modeling
It is shown that JEPA features outperform video VAE latents, most clearly out of distribution, and that training-time future prediction choices significantly impact the policy even when future prediction is skipped at inference, suggesting that robot foundation models may benefit from architectures designed for control...
Mateo Clémente, George Z. Xue, Amin Abyaneh et al.
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