Preserving Unstable Modes Through Inverse Dynamics in JEPA World Models
cs.LG, cs.RO, cs.SY, eess.SY, math.OC
Submitted: 2026-10-06
Updated: 2026-10-06
Project page: https://jepa-control.github.io
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- LeJEPA: Provable and Scalable Self-Supervised Learning Without the Heuristics
- VICReg: Variance-Invariance-Covariance Regularization for Self-Supervised Learning
- World Models
- Mastering Diverse Domains through World Models
- Sensorimotor World Models: Perception for Action via Inverse Dynamics
- Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems
- LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixels
- Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC
- DINOv2: Learning Robust Visual Features without Supervision
- Closing the Train-Test Gap in World Models for Gradient-Based Planning
- Learning from Reward-Free Offline Data: A Case for Planning with Latent Dynamics Models
- JEPA-Bisim: Learning Robust Visual Representations for Planning with Joint-Embedding Predictive World Models
- Temporal Straightening for Latent Planning
- Music-JEPA: Learning a World Model of Sound from Action
- Hierarchical Planning with Latent World Models
- DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning
- iBOT: Image BERT Pre-Training with Online Tokenizer
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