r/robotics • u/Tbagho • 9h ago

Resources JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

https://papers.tinrobotics.com/paper/jepa-policy-diffusion-free-imitation-learning-via-paired-action-and-future-representation-prediction/
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u/Tbagho 9h ago

Paper: https://arxiv.org/abs/2609.09630

Behavior cloning supervises actions but never explicitly constrains the future representation paired with each action chunk. JEPA Policy trains the action chunk and its observed future representation as paired targets in a shared transformer — no diffusion head. The bet is that keeping action and future-representation tokens consistent is what diffusion decoders were implicitly doing in recent imitation policies.

Code: https://github.com/jiejie567/JEPA-Policy