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arXiv · 2609.09630

JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

Jie Xu·Kangjin Yu·Ziyi Jin·Junjie Gao·Liqing Chen·Yixian Li·Shuai Tian·Zhongpu Xia
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Abstract

Standard behavior cloning supervises actions without explicitly constraining the future representation paired with each demonstrated action chunk. We introduce JEPA Policy, a diffusion-free framework that uses the action chunk and its observed future representation as paired training targets. Action and future-representation tokens interact in a shared Transformer and are refined through two forward passes. Future prediction can therefore shape the representation used to generate actions. Dual-branch and gradient-routing controls attribute the gain to this shared topology rather than to an auxiliary prediction head alone. Across nine simulated tasks, JEPA Policy improves mean success over the action-only MIP baseline and outperforms Diffusion Policy under the evaluated configurations, while adding 0.29 ms to MIP's model latency. A five-task, 630-episode physical-robot study produces the same pooled ranking. Further audits find no complete representation collapse under action supervision and identify a task-conditioned failure-ranking signal in future-prediction error. These results support paired future-representation supervision as a practical approach to low-latency visuomotor imitation without iterative generative sampling.

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Jie Xu, Kangjin Yu, Ziyi Jin, Junjie Gao, Liqing Chen, Yixian Li, Shuai Tian, Zhongpu Xia. 2026-09-09. JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction. https://arxiv.org/abs/2609.09630

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