Alexey Gavrilov

AquaJEPA: Action-Conditioned Multimodal Predictive Representations for Underwater Robot Dynamics

Alan-Barsag Gazzaev, Alexey Gavrilov, Sergey Muravyov

Underwater robots combine complementary sensors whose reliability changes abruptly with water visibility, viewpoint, and vehicle motion. We introduce AquaJEPA, an action-conditioned joint-embedding predictive model that fuses an RGB camera, forward-looking sonar, and propriocepti…Read more