4 citations · 5 across the 5 of their papers we have counts for
5 papers · 1 filter
Preserving Unstable Modes Through Inverse Dynamics in JEPA World Models
Leonardo F. Toso, Yann LeCun, James Anderson +1
Robotic systems often exhibit unstable modes, along which small perturbations and disturbances can cause unbounded growth unless corrected through feedback. Controlling such system…
AdaJEPA: An Adaptive Latent World Model
Ying Wang, Oumayma Bounou, Yann LeCun +1
Latent world models enable planning from high-dimensional observations by predicting future states in a compact latent space. However, these models are typically kept frozen at tes…
Temporal Straightening for Latent Planning
Ying Wang, Oumayma Bounou, Gaoyue Zhou +4
Learning good representations is essential for latent planning with world models. While pretrained visual encoders produce strong semantic visual features, they are not tailored to…
Value-guided action planning with JEPA world models
Matthieu Destrade, Oumayma Bounou, Quentin Le Lidec +2
Building deep learning models that can reason about their environment requires capturing its underlying dynamics. Joint-Embedded Predictive Architectures (JEPA) provide a promising…
Closing the Train-Test Gap in World Models for Gradient-Based Planning
Arjun Parthasarathy, Nimit Kalra, Rohun Agrawal +4
World models paired with model predictive control (MPC) can be trained offline on large-scale datasets of expert trajectories and enable generalization to a wide range of planning…