RoboJEPA: Scaling Robotic Latent World Models
[Sztuczna inteligencja] Autorzy: Artem Zholus, Nicolas Beltran-Velez, Jianhao Yuan i 9 więcej
Latent world models have shown a remarkable ability to predict future states and to plan in the real world. In practice, however, we lack a principled way to estimate how their capabilities scale with model size, data, and compute, an open problem that slows progress in the field. In this work we present RoboJEPA, a world model based on the Joint Embedding Predictive Architecture (JEPA) and trained on a large-scale dataset spanning 12 robotic embodiments. We show that RoboJEPA's imagination error, the error of its latent rollouts, follows a second-order power law in compute, allowing us to predict model quality well beyond the scale at which the law is fit. We further show that downstream robotic planning performance improves predictably with compute, and that imagination error is strongly correlated with it, making it a reliable proxy for real-robot evaluation. Finally, we demonstrate …
- Kategoria arxiv
- cs.AI
- Kategoria
- Sztuczna inteligencja