Yue Wang

Calibrated Predictive Safety for Heterogeneous Robots: An Action-Conditioned JEPA Framework with Model-Based Safety Shields

Vision-language-action policies generalize broadly but provide no execution-time guarantees; classical model-based planners respect kinematic and geometric constraints but generalize poorly. We study whether an action-conditioned Joint-Embedding Predictive Architecture (JEPA) world model can predict, before execution,...