AnalysisAI ModelsOctober 4, 2026

H-JEPA separates perception from control in action-conditioned world models

Read original source →arxiv.org

H-JEPA splits a wide perceptual code from a fixed orthonormal control state that inherits its covariance, evolving under phase-conditioned dissipative port-Hamiltonian dynamics. It matches or beats reconstruction-free baselines including Delta-JEPA on four pixel-based control benchmarks within 10 epochs, peaking at 91.9% vs 79.3% on OGB-Cube.

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