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Open-world JEPA trained on Unitree robot egocentric video — Joint Embedding Predictive Architecture (LeCun) for action-conditioned video representation learning

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JEPA_MODEL

Professional, reproducible implementation of JEPA-style training with an MC-JEPA-inspired joint objective (content + motion).

Reference paper:

  • MC-JEPA: A Joint-Embedding Predictive Architecture for Self-Supervised Learning of Motion and Content Features (arXiv:2307.12698v1, July 24, 2023)

Installation

python -m venv .venv
# PowerShell:
.\.venv\Scripts\Activate.ps1
pip install -r requirements.txt
pip install -e .

Dataset Presets

Available presets for preprocessing:

  • kinetics
  • something-something
  • ego4d

Real Data Pipeline

  1. Put raw videos under one root, e.g. data/raw_videos/.

  2. Build clips with a preset:

Kinetics-style:

python scripts/prepare_videos.py --preset kinetics --input-root data/raw_videos --train-out data/clips/train --val-out data/clips/val

Something-Something-style:

python scripts/prepare_videos.py --preset something-something --input-root data/raw_videos --train-out data/clips/train --val-out data/clips/val

Ego4D-style:

python scripts/prepare_videos.py --preset ego4d --input-root data/raw_videos --train-out data/clips/train --val-out data/clips/val
  1. Train with matching config:

Kinetics:

python scripts/train.py train-mc-jepa --config configs/mc_jepa_kinetics.yaml

Something-Something:

python scripts/train.py train-mc-jepa --config configs/mc_jepa_something_something.yaml

Ego4D:

python scripts/train.py train-mc-jepa --config configs/mc_jepa_ego4d.yaml
  1. Run ablation benchmark:
python scripts/train.py benchmark-mc-jepa --config configs/mc_jepa_kinetics.yaml

Output Artifacts

Saved under artifacts/mc_jepa/<preset>/:

  • mcjepa_losses.png
  • sample_step_*.png
  • benchmark/benchmark_runs.csv
  • benchmark/benchmark_summary.json
  • benchmark/benchmark_ablation.png
  • benchmark/REPORT.md

Optional Debug Source

Atari collector is kept only for debugging:

python scripts/collect_atari.py

About

Open-world JEPA trained on Unitree robot egocentric video — Joint Embedding Predictive Architecture (LeCun) for action-conditioned video representation learning

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