Do-JEPA: From Masking to Intervention in Latent World Models
Latent world models are trained to predict what happens next, so nothing in their objective separates what an action caused from what merely co-occurred with it. Object-masking models such as C-JEPA intervene on what the predictor can see; we intervene on what physically happens. From one saved simulator state we run the dynamics under an action $a$ and under a reference action $a_{\varnothing}$, and train the model to predict the difference $Δz=z^{a}-z^{a_{\varnothing}}$ between the two latent futures. The resulting objective, Do-JEPA, has an effect loss, a support loss (where the action enters), a propagation loss (where its effect travels) and invariance losses (what must not change). ...
| Authors | Hossein Resani, Javen Qinfeng Shi |
|---|---|
| Primary category | cs.CV |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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