Temporal-Distance JEPA: Plan-Aware Representation Learning for Latent World Model Predictive Control

arXiv:2607.25337v1 Announce Type: new Abstract: Joint-Embedding Predictive Architectures (JEPAs) learn world models by predicting in representation space rather than reconstructing pixels, making them a natural backbone for latent model predictive control from offline demonstration logs. JEPA-style training optimizes short-horizon latent prediction, whereas planning requires a multi-step ranking of imagined futures by goal progress. Prior JEPA planners often inherit that ranking from embedding g...