4 papers
OctoSense: Self-Supervised Learning for Multimodal Robot Perception
Anthony Bisulco, Jeremy Wang, Kostas Daniilidis +2
We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning syst…
SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
Pratyaksh Rao, Wancong Zhang, Randall Balestriero +2
Accurate dynamics models are critical for informed decision-making in robotic systems, particularly for agile aerial vehicles operating under uncertainty. Neural network dynamics m…
Post-Hoc Guidance for Consistency Models by Joint Flow Distribution Learning
Chia-Hong Hsu, Randall Balestriero
Classifier-free Guidance (CFG) lets practitioners trade-off fidelity against diversity in Diffusion Models (DMs). The practicality of CFG is however hindered by DMs sampling cost.…
Why and How Auxiliary Tasks Improve JEPA Representations
Jiacan Yu, Siyi Chen, Mingrui Liu +5
Joint-Embedding Predictive Architecture (JEPA) is increasingly used for visual representation learning and as a component in model-based RL, but its behavior remains poorly underst…