Demo-JEPA enables one-shot cross-embodiment imitation by mapping visual demonstrations to shared latent future trajectories that serve as subgoals for the target agent's own forward dynamics planning.
Latent diffusion planning for imitation learning, 2025
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Demo-JEPA: Joint-Embedding Predictive Architecture for One-shot Cross-Embodiment Imitation
Demo-JEPA enables one-shot cross-embodiment imitation by mapping visual demonstrations to shared latent future trajectories that serve as subgoals for the target agent's own forward dynamics planning.