Open-H-Embodiment is the largest open multi-embodiment medical robotics dataset, used to train GR00T-H, the first open vision-language-action model that achieves end-to-end suturing completion where prior models fail.
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V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
64 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
abstract
A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supervised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on Something-Something v2) and state-of-the-art performance on human action anticipation (39.7 recall-at-5 on Epic-Kitchens-100) surpassing previous task-specific models. Additionally, after aligning V-JEPA 2 with a large language model, we demonstrate state-of-the-art performance on multiple video question-answering tasks at the 8 billion parameter scale (e.g., 84.0 on PerceptionTest, 76.9 on TempCompass). Finally, we show how self-supervised learning can be applied to robotic planning tasks by post-training a latent action-conditioned world model, V-JEPA 2-AC, using less than 62 hours of unlabeled robot videos from the Droid dataset. We deploy V-JEPA 2-AC zero-shot on Franka arms in two different labs and enable picking and placing of objects using planning with image goals. Notably, this is achieved without collecting any data from the robots in these environments, and without any task-specific training or reward. This work demonstrates how self-supervised learning from web-scale data and a small amount of robot interaction data can yield a world model capable of planning in the physical world.
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- abstract A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supervised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on
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JEDI is the first online end-to-end latent diffusion world model that trains latents from denoising loss rather than reconstruction, achieving competitive Atari100k results with 43% less VRAM and over 3x faster sampling than pixel diffusion baselines.
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RLA-WM predicts residual latent actions via flow matching to create visual feature world models that outperform prior feature-based and diffusion approaches while enabling offline video-based robot RL.
TRIBE v2 is a multimodal AI model that predicts human brain activity more accurately than linear encoding models and recovers established neuroscientific findings through in-silico testing.
World models succeed when their latent states are built to meet task-specific sufficiency constraints rather than preserving the maximum amount of information.
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Mask World Model predicts semantic mask dynamics with video diffusion and integrates it with a diffusion policy head, outperforming RGB world models on LIBERO and RLBench while showing better real-world generalization and texture robustness.
RoboWM-Bench evaluates video world models by converting their outputs into executable robot actions and running them on manipulation tasks, showing that physical inconsistencies remain common.
AnimationBench is the first benchmark that operationalizes the twelve basic principles of animation and IP preservation into scalable, VLM-assisted metrics for animation-style I2V generation.
GTASA supplies annotated multi-actor videos with exact 3D spatial and temporal ground truth that outperforms neural video generators in physical and semantic validity while enabling new probes of video encoders.
Action Images turn robot arm motions into interpretable multiview pixel videos, letting video backbones serve as zero-shot policies for end-to-end robot learning.
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In configurable enterprise systems, runtime discovery of transition dynamics from system configuration is more robust to deployment shifts than offline-trained world models.
DAWN couples a world predictor with a world-conditioned action denoiser in latent space so that each refines the other recursively, yielding strong planning and safety results on autonomous driving benchmarks.
A five-phase co-training framework enables stable JEPA pretraining on EHR trajectories, producing converging latent rollouts and higher multi-task AUROC than baselines on MIMIC-IV ICU data.
RePO-VLA raises average adversarial success rates in VLA manipulation from 20% to 75% by using recovery-aware initialization, a progress-aware semantic value function, and value-conditioned refinement on success and corrective trajectories.
In regularized latent spaces of world models, planning can be amortized into a goal-conditioned inverse dynamics model that matches CEM performance at 100-130x lower per-decision cost.
RC-aux corrects spatiotemporal mismatch in reconstruction-free latent world models by adding multi-horizon prediction and reachability supervision, improving planning performance on goal-conditioned pixel-control tasks.
Converting 3D MRI volumes into action-conditioned 2D slice navigation sequences offers a complementary self-supervised pretraining signal for learning anatomical and spatial representations.
ConsisVLA-4D adds cross-view semantic alignment, cross-object geometric fusion, and cross-scene dynamic reasoning to VLA models, delivering 21.6% and 41.5% gains plus 2.3x and 2.4x speedups on LIBERO and real-world tasks.
Self-supervised learning is cast as latent distribution matching that aligns representations to a model while enforcing uniformity, unifying multiple SSL families and proving identifiability for predictive variants even with nonlinear predictors.
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Agentic World Modeling: Foundations, Capabilities, Laws, and Beyond
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Mask World Model: Predicting What Matters for Robust Robot Policy Learning
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RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
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AnimationBench: Are Video Models Good at Character-Centric Animation?
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Action Images: End-to-End Policy Learning via Multiview Video Generation
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Contrastive Learning under Noisy Temporal Self-Supervision for Colonoscopy Videos
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Do Enterprise Systems Need Learned World Models? The Importance of Context to Infer Dynamics
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The DAWN of World-Action Interactive Models
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Clin-JEPA: A Multi-Phase Co-Training Framework for Joint-Embedding Predictive Pretraining on EHR Patient Trajectories
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RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
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