PSG-JEPA grounds JEPA world-model latents in robot proprioception and joint-angle changes, improving physical state identifiability, planning, and policy learning.
Robots pre-train robots: Manipulation-centric robotic representation from large-scale robot datasets
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Is Forward Prediction Enough? Physical State Grounding for JEPA World Models
PSG-JEPA grounds JEPA world-model latents in robot proprioception and joint-angle changes, improving physical state identifiability, planning, and policy learning.