Planning and Model-Predictive Control (MPC) using JEPA.
In Mode 2 Planning, the JEPA acts as a World Model simulator. Instead of acting blindly, the agent "imagines" sequences of actions in latent space and evaluates their outcomes before executing a single move. It picks the path with the lowest Intrinsic Cost.
This is achieved through Model-Predictive Control (MPC), allowing for zero-shot planning in complex physical environments.
Hover your mouse anywhere on the canvas to set a Goal Target. The simulation shows the JEPA World Model running multiple hypothetical "Latent Rollouts" (thin green lines) in parallel. The robot arm then executes the trajectory that minimizes the distance to your target.