Calibrated Predictive Safety for Heterogeneous Robots: An Action-Conditioned JEPA Framework with Model-Based Safety Shields

arXiv:2608.17496v1 Announce Type: new Abstract: Vision-language-action policies generalize broadly but provide no execution-time guarantees; classical model-based planners respect kinematic and geometric constraints but generalize poorly. We study whether an action-conditioned Joint-Embedding Predictive Architecture (JEPA) world model can predict, before execution, both task progress and physical risk for candidate action chunks, and whether coupling these predictions to an embodiment-specific m...