robotics
An Underwater Robot Predicted Contact Without Touch Sensors
C3-JEPA used synchronized cameras and control signals to model salvage interactions and hydrodynamic lag.
Summary
C3-JEPA used synchronized cameras and control signals to model salvage interactions and hydrodynamic lag.
The object-centric model fuses several camera views, conditions predicted future states on vehicle controls and learns target-and-gripper geometry with weak labels. Its representation transferred more task-relevant information to downstream probes than the reported reconstruction-free latent baseline while keeping the predictor light enough for candidate-rollout use. Real underwater video tests recovered a withheld camera's object state better than persistence. The evidence covers the authors' simulation and video setup, not autonomous salvage readiness.
Why it matters
C3-JEPA used synchronized cameras and control signals to model salvage interactions and hydrodynamic lag.
Limits and context
- The evidence covers the authors' simulation and video setup, not autonomous salvage readiness.
Key claims
C3-JEPA used synchronized cameras and control signals to model salvage interactions and hydrodynamic lag.
Qualification: The evidence covers the authors' simulation and video setup, not autonomous salvage readiness.
Evidence: source-2026-09-26-009
Sources
- arXiv preprint 2609.30214arXiv · primary research
Corrections
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