# DepState-JEPA: Depth-Grounded State Representation Learning for Visual Perception and Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fw11ny0dvdbxga4pz44khmfya
- Original: https://arxiv.org/abs/2610.29246

## Summary

The authors propose DepState-JEPA, a dual-stream RGB-D joint-embedding predictive architecture that connects spatial understanding with action-conditioned prediction through a shared latent state, DepState. Built on V-JEPA 2.1, the framework uses depth both as a complementary observation stream and as the grounding for metric 3D space, and constrains state learning with ray-conditioned readouts, object-trajectory supervision, and calibrated forward kinematics.