相关论文: HanoiWorld : A Joint Embedding Predictive Architec…

We evaluate JEPA-style predictive representation learning versus reconstruction-based autoencoders on a controlled "TV-series" linear dynamical system with known latent state and a single noise parameter. While an initial comparison…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

Robotic imitation learning is often treated as reproducing demonstrated actions, but actions are inherently embodiment-specific. When demonstrations come from humans or robots with different morphology, kinematics, or action spaces, this…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

This paper presents that the masked-modeling principle driving the success of large foundational vision models can be effectively applied to audio by making predictions in a latent space. We introduce Audio-based Joint-Embedding Predictive…

Building on the Joint-Embedding Predictive Architecture (JEPA) paradigm, a recent self-supervised learning framework that predicts latent representations of masked regions in high-level feature spaces, we propose Audio-JEPA (Audio…

World models enable model-based planning through learned latent dynamics, but imagined rollouts become unstable as the planning horizon grows or the dynamics distribution shifts. We argue that this instability reflects two missing…

Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…

In the area of learning-driven artificial intelligence advancement, the integration of machine learning (ML) into self-driving (SD) technology stands as an impressive engineering feat. Yet, in real-world applications outside the confines of…

End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approaches achieve strong performance on single-domain datasets,…

Collision avoidance systems can play a vital role in reducing the number of accidents and saving human lives. In this paper, we introduce and validate a novel method for vehicles reactive collision avoidance using evolutionary neural…

Navigating to a visually specified goal given natural language instructions remains a fundamental challenge in embodied AI. Existing approaches either rely on reactive policies that struggle with long-horizon planning, or employ world…

Learning predictive world models from unlabelled video is a foundational challenge in artificial intelligence. While Joint Embedding Predictive Architectures (JEPA) have set new benchmarks in semantic classification, they often remain…

Recent advances in self-supervised visual representation learning have demonstrated the effectiveness of predictive latent-space objectives for learning transferable features. In particular, Image-based Joint-Embedding Predictive…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

We present a transformer architecture-based foundation model for tasks at high-energy particle colliders such as the Large Hadron Collider. We train the model to classify jets using a self-supervised strategy inspired by the Joint Embedding…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…

Modern self-supervised predictive architectures excel at capturing complex statistical correlations from high-dimensional data but lack mechanisms to internalize verifiable human logic, leaving them susceptible to spurious correlations and…