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A step-by-step annotated implementation and explanation of Joint Embedding Predictive Architectures (JEPA) for self-supervised learning, covering I-JEPA, V-JEPA, and LeJEPA.
VLA-JEPA, a new model integrating a JEPA world model for action-relevant dynamics, has been released in LeRobot. It enables pretraining on human videos and achieves strong performance with minimal fine-tuning, running real-time on NVIDIA DGX Spark.