# BeJEPA: A Goal-Conditioned Humanoid Behavior World Model via Unsupervised Reinforcement Learning

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/e4y7i2bz0cdkj74fwhzt7e6x8
- Original: https://arxiv.org/abs/2610.23127

## Summary

The paper proposes BeJEPA, a goal-conditioned humanoid behavior world model learned through unsupervised reinforcement learning from human motion priors and robot interaction, using a joint-embedding predictive architecture (JEPA) to learn a shared representation of body configuration and world placement.