AquaJEPA: Action-Conditioned Multimodal Predictive Representations for Underwater Robot Dynamics

arXiv:2607.29393v1 Announce Type: new Abstract: Underwater robots combine complementary sensors whose reliability changes abruptly with water visibility, viewpoint, and vehicle motion. We introduce AquaJEPA, an action-conditioned joint-embedding predictive model that fuses an RGB camera, forward-looking sonar, and proprioception with explicit sensor validity. It predicts a future latent target conditioned on eight-thruster commands and supplies velocity and sonar-profile predictions to a shared ...