{"id":"https://openalex.org/W4413917532","doi":"https://doi.org/10.1109/icra55743.2025.11128137","title":"MJPR: Multi-Modal Joint Predictive Representation in Deep Reinforcement Learning","display_name":"MJPR: Multi-Modal Joint Predictive Representation in Deep Reinforcement Learning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917532","doi":"https://doi.org/10.1109/icra55743.2025.11128137"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012728201","display_name":"Zehan Wang","orcid":"https://orcid.org/0009-0008-7342-8733"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehan Wang","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100613787","display_name":"Ziming He","orcid":"https://orcid.org/0009-0003-2218-8550"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziming He","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065947577","display_name":"Zijia Wang","orcid":"https://orcid.org/0000-0002-5726-5451"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijia Wang","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782965","display_name":"Hua He","orcid":"https://orcid.org/0000-0003-4535-5369"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua He","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055295334","display_name":"Beiya Yang","orcid":"https://orcid.org/0000-0003-1684-6054"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"BeiYa Yang","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066853036","display_name":"Haobin Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobin Shi","raw_affiliation_strings":["The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Science, Northwestern Polytechnical University,Xi'an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.673,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84773722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.44029998779296875,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.44029998779296875,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7261738777160645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7019643187522888},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6921144723892212},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6432885527610779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5693118572235107},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5403483510017395},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.47975289821624756},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3855992257595062},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14650997519493103},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.098530113697052}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7261738777160645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7019643187522888},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6921144723892212},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6432885527610779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5693118572235107},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5403483510017395},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.47975289821624756},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3855992257595062},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14650997519493103},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.098530113697052},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2384634826","display_name":null,"funder_award_id":"92267110,62476225","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3123168170","display_name":null,"funder_award_id":"2023YFF0905604","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2014824949","https://openalex.org/W2904246096","https://openalex.org/W2963634205","https://openalex.org/W2963677766","https://openalex.org/W2970040369","https://openalex.org/W3036619998","https://openalex.org/W3121111736","https://openalex.org/W3131875256","https://openalex.org/W3133865035","https://openalex.org/W3175558129","https://openalex.org/W3204533679","https://openalex.org/W3205091198","https://openalex.org/W4223499953","https://openalex.org/W4252279978","https://openalex.org/W4285102554","https://openalex.org/W4312862363","https://openalex.org/W4312989333","https://openalex.org/W4386071467","https://openalex.org/W4395690191","https://openalex.org/W4401018111","https://openalex.org/W4401414341"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Multi-modal":[0,66],"reinforcement":[1],"learning":[2,64,119],"(RL)":[3],"has":[4],"been":[5],"brought":[6],"into":[7],"focus":[8],"due":[9],"to":[10,13,33,44,53,76,95,100,112,121,197,204],"its":[11],"ability":[12],"provide":[14],"complementary":[15,55,97],"information":[16,75,98],"from":[17],"different":[18],"sensors,":[19],"enriching":[20],"observations":[21,30],"of":[22,27,40,102,162,184,201],"agents.":[23],"However,":[24],"the":[25,86,123,131,135,194,199],"introduction":[26],"multi-modal":[28,47,73,109,132],"highdimensional":[29],"brings":[31],"challenges":[32],"sample":[34],"efficiency.":[35],"There":[36],"is":[37],"a":[38,62],"lack":[39],"research":[41],"on":[42,164],"how":[43],"efficiently":[45],"obtain":[46],"latent":[48,79],"states":[49],"while":[50],"encouraging":[51],"them":[52],"generate":[54,96],"information.":[56],"To":[57],"address":[58],"this,":[59],"we":[60,107],"propose":[61],"representation":[63,87,149],"method,":[65],"Joint":[67],"Predictive":[68],"Representation":[69],"(MJPR),":[70],"which":[71],"utilizes":[72],"interactive":[74],"predict":[77],"future":[78],"states.":[80],"The":[81],"joint":[82],"prediction":[83],"method":[84,145],"achieves":[85],"training":[88,114],"for":[89,125],"modalities":[90,124],"and":[91,116,140,142,176,181],"promotes":[92],"each":[93,103,202],"modality":[94],"related":[99],"predictions":[101],"other.":[104],"In":[105],"addition,":[106],"introduce":[108],"loss":[110],"balancing":[111],"prompt":[113],"equilibrium":[115],"cross-modal":[117],"contrastive":[118],"(CMCL)":[120],"align":[122],"effective":[126],"modal":[127],"interaction.":[128],"We":[129],"establish":[130],"environments":[133],"in":[134,167,178,193],"Deepmind":[136],"Control":[137],"suite":[138],"(DMC)":[139],"Webots":[141,185],"compare":[143],"our":[144],"with":[146],"current":[147],"RL":[148],"methods.":[150],"Experimental":[151],"results":[152],"show":[153],"that":[154],"MJPR":[155],"outperforms":[156,171],"state-of-the-art":[157],"methods":[158,173],"by":[159,174],"an":[160],"average":[161],"12.0%":[163],"six":[165],"subtasks":[166],"DMC":[168,195],"environments.":[169],"It":[170],"advanced":[172],"16.7%":[175],"55.4%":[177],"simple":[179],"tasks":[180,183],"complex":[182],"environment,":[186],"respectively.":[187],"Moreover,":[188],"ablation":[189],"experiments":[190],"are":[191],"established":[192],"environment":[196],"verify":[198],"importance":[200],"module":[203],"MJPR.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}