OGBench Cube
Cube Manipulation
Successful episodes from the JEPA4R + GCIQL final checkpoint, shown as synchronized RGB and point-cloud views.
Tasks cycle automatically after the longest video finishes. Select a task to switch manually.
OGBench Cube (RM75): Cross-Embodiment
RealMan RM75-B + Inspire EG2-4C2
Expert test episodes, cube carried to its target (not the JEPA4R policy).
Cube pick-and-place
OGBench Scene
UR5e + Robotiq 2F-85
Successful episodes of the JEPA4R policy (CortexBench imitation protocol on the OGBench evaluation tasks).
Tasks cycle automatically after the longest video finishes. Select a task to switch manually.
OGBench Puzzle
UR5e + Robotiq 2F-85
Solved OGBench evaluation tasks, JEPA4R policy (DQC on the frozen latents and the lights).
Tasks cycle automatically after the longest video finishes. Select a task to switch manually.
MetaWorld
Sawyer
Successful episodes of the JEPA4R policy (CortexBench evaluation).
Tasks cycle automatically after the longest video finishes. Select a task to switch manually.
Adroit
Anthropomorphic Hand Manipulation
Successful JEPA4R + BC episodes from the saved reward-selected policy, shown as synchronized RGB and point-cloud views at 4× slow motion.
Tasks cycle automatically after the longest video finishes. Select a task to switch manually.
Adroit (RH56): Cross-Embodiment
RealMan RM75 arm + Inspire RH56 dexterous hand
Successful JEPA4R + BC episodes from the final policy (epoch 99, training seeds 100/200/300), each clip ending at the first native success step. Synchronized RGB and point-cloud views at 4× slow motion. Selected successes only, not an overall success rate.
Clips replay automatically after the longest video finishes.