2 papers
cs.RO2026
JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction
Jie Xu, Kangjin Yu, Ziyi Jin +5
Standard behavior cloning supervises actions without explicitly constraining the future representation paired with each demonstrated action chunk. We introduce JEPA Policy, a diffu…
cs.RO2026
WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos
Jiahao Liu, Zhongpu Xia, Shuai Tian +13
Generalizable robot policies typically rely on action-labeled robot demonstrations, which are expensive to collect and difficult to scale. In contrast, large-scale human and robot…