Preserving Unstable Modes Through Inverse Dynamics in JEPA World Models
Robotic systems often exhibit unstable modes, along which small perturbations and disturbances can cause unbounded growth unless corrected through feedback. Controlling such systems from high-dimensional visual observations requires representations that preserve these modes. Joint-embedding predictive architectures (JE...
L. F. Toso, Yann LeCun, James Anderson et al.
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