Related papers: Why and How Auxiliary Tasks Improve JEPA Represent…

We study whether 3D self-supervised pretraining with Point--JEPA enables label-efficient grasp joint-angle prediction. Meshes are sampled to point clouds and tokenized; a ShapeNet-pretrained Point--JEPA encoder feeds a $K{=}5$…

Continuous Glucose Monitoring (CGM) can detect early metabolic subphenotypes (insulin resistance, IR; $\beta$-cell dysfunction), but population-scale deployment faces two coupled problems. First, the same physiological state appears through…

In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…

Representation learning has been widely studied in the context of meta-learning, enabling rapid learning of new tasks through shared representations. Recent works such as MAML have explored using fine-tuning-based metrics, which measure the…

Variational autoencoders learn unsupervised data representations, but these models frequently converge to minima that fail to preserve meaningful semantic information. For example, variational autoencoders with autoregressive decoders often…

Autoencoder-based learning has emerged as a staple for disciplining representations in unsupervised and semi-supervised settings. This paper analyzes a framework for improving generalization in a purely supervised setting, where the target…

JEPAs often regularize one-view embeddings toward an isotropic Gaussian, implicitly baking Euclidean symmetry into the representation. We show that this is not merely a benign default. For a known structured downstream geometry $H\succ0$,…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

Reinforcement learning (RL) has shown its strength in challenging sequential decision-making problems. The reward function in RL is crucial to the learning performance, as it serves as a measure of the task completion degree. In real-world…

Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the…

Genomic Foundation Models (GFMs) typically rely on Masked Language Modeling (MLM) or Next-Token Prediction (NTP) to learn the "Laws of Nature". While effective at capturing local syntax, these generative paradigms prioritize token-level…

Auxiliary objectives, supplementary learning signals that are introduced to help aid learning on data-starved or highly complex end-tasks, are commonplace in machine learning. Whilst much work has been done to formulate useful auxiliary…

Large Language Models (LLMs) are discovered to suffer from accurately retrieving key information. To address this, we propose Mask-Enhanced Autoregressive Prediction (MEAP), a simple yet effective training paradigm that seamlessly…

Pretrained representations from large-scale vision models have boosted the performance of downstream embodied policy learning. We look to understand whether additional self-supervised pretraining on exploration trajectories can build on…

Self-supervised representation learning solves auxiliary prediction tasks (known as pretext tasks) without requiring labeled data to learn useful semantic representations. These pretext tasks are created solely using the input features,…

Continual learning is crucial for applying machine learning in challenging, dynamic, and often resource-constrained environments. However, catastrophic forgetting - overwriting previously learned knowledge when new information is acquired -…

Graph Neural Networks (GNNs) have shown promise in learning dynamic functional connectivity for distinguishing phenotypes from human brain networks. However, obtaining extensive labeled clinical data for training is often…

Efficient training strategies for large-scale diffusion models have recently emphasized the importance of improving discriminative feature representations in these models. A central line of work in this direction is representation alignment…

Reinforcement learning (RL) can enable task-oriented dialogue systems to steer the conversation towards successful task completion. In an end-to-end setting, a response can be constructed in a word-level sequential decision making process…