VLA-JEPA#

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This section introduces the general functions of LeRobot. Please configure the example according to the target robot, data set and operating environment; before using it with AlohaMini 2 / 2 Pro, you need to confirm the hardware and interface compatibility.

This repository contains the LeRobot port of VLA-JEPA, a Vision-Language-Action model that combines a Qwen3-VL language backbone with a self-supervised video world model (V-JEPA2) and a flow-matching DiT action head.

Converted from ginwind/VLA-JEPA.

Architecture Overview#

Component

Module

Role

Qwen3-VL backbone

Qwen3VLInterface

Fuses images + language instruction into context tokens

DiT-B action head

VLAJEPAActionHead

Flow-matching diffusion over the action chunk

V-JEPA2 world model

ActionConditionedVideoPredictor

Self-supervised video prediction loss (training only)

At inference time only the Qwen backbone and action head are used; the world model is not needed.

Citation#

@misc{sun2026vlajepaenhancingvisionlanguageactionmodel,
  title         = {VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model},
  author        = {Jingwen Sun and Wenyao Zhang and Zekun Qi and Shaojie Ren and Zezhi Liu and Hanxin Zhu and Guangzhong Sun and Xin Jin and Zhibo Chen},
  year          = {2026},
  eprint        = {2602.10098},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2602.10098},
}

License#

Weights are distributed under the license terms of the original ginwind/VLA-JEPA repository (Apache 2.0 License). The LeRobot integration code follows the Apache 2.0 License.