One Future, Every Robot: Label-Efficient Collective-State Prediction with Decentralized JEPA
arXiv:2607.28443v1 Announce Type: new Abstract: Can every robot in a swarm predict the same future collective state from only local observations and bandwidth-limited messages? We formulate this as decentralized shared-state prediction and introduce Collective-State JEPA (CS-JEPA), a recurrent joint-embedding predictive architecture whose output at every robot represents one common future token field. At deployment, each robot uses a 16-frame local history and one 64-float recurrent message per ...
arXiv cs.RO
·Alan-Barsag Gazzaev, Alexey Garvilov, Sergey Muravyov
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