Author

Yuxiang Gao

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Preprint Aug 2026

Is Forward Prediction Enough? Physical State Grounding for JEPA World Models

PSG-JEPA is proposed, a physically grounded JEPA world model that shapes its latent space with two complementary grounding objectives beyond forward prediction: grounding individual latents in robot proprioceptive state, and grounding latent pairs in multi-horizon joint-angle changes.

Haodong Yan, Jiaguang Zhu, Ming-Ming Jia et al. · 2 citations