Calibrated Predictive Safety for Heterogeneous Robots: An Action-Conditioned JEPA Framework with Model-Based Safety Shields
异构机器人的校准预测安全性：一种带基于模型安全盾的动作条件联合嵌入预测架构（JEPA）框架
机构 * Guangdong Bifang Intelligent Control Technology Co., Ltd.（广东毕方智能控制技术有限公司）
专题命中 具身与机器人 ：world model(abstract)；world model(abstract)；分类 cs.RO
AI总结 本研究提出带基于模型安全盾的动作条件JEPA框架，用于异构机器人，可预测候选动作的任务进展与物理风险，在仿真中提升了成功率并降低碰撞漏报率。
Comments 17 pages, 9 figures. Simulation-only empirical results on LIBERO-Long (no real-robot experiments). Source, figure-generation scripts and reproducibility checklist included. Level-3 offline reranking significance test not executed; see Sec. 7 (Scope and honesty statement) for detailed disclosure
