Mini-JEPA
Compact action-conditioned JEPA world models for simple robotics tasks.
I am experimenting with Mini-JEPA, a small action-conditioned JEPA setup for robot control tasks in Gymnasium Robotics.
The project trains compact self-supervised world models from low-dimensional robot observations, then uses learned action priors and MPC-style planning to solve Fetch reaching, pushing, and pick-and-place tasks.