LLM vs JEPAMay 19, 2026 Part 5: Planning in Latent Space Action-conditioned JEPA on the bouncing ball. Add direction as input to the predictor and the bimodal-future problem disappears. Brute-force MPC in embedding space drives a goal-image rollout. machine-learningpythonpytorchjepaself-supervised-learningworld-modelsplanning
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