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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, Yupeng Zheng +14
Human videos provide rich information about object manipulation at a scale difficult to reproduce with robots, but often lack action annotations that can directly supervise robot p…