JEPA-WAM couples latent transition prediction in a frozen V-JEPA space with action generation through a shared predictor, improving out-of-distribution manipulation success on LIBERO-Plus, RoboTwin 2.0, and a real bimanual robot.
0, .25, .50, .75,1 Three-block placement Place all three target blocks on the plate, with partial credit for completed placements
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JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling
JEPA-WAM couples latent transition prediction in a frozen V-JEPA space with action generation through a shared predictor, improving out-of-distribution manipulation success on LIBERO-Plus, RoboTwin 2.0, and a real bimanual robot.