V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning

A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supervised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on Something-Something v2) and state-of-the-art performance on human action anticipation (39.7 recall-at-5 on Epic-Kitchens-100) surpassing previous task-specific models. Additionally, after aligning V-JEPA 2 with a large language model, we demonstrate state-of-the-art performance on multiple video question-answering tasks at the 8 billion parameter scale (e.g., 84.0 on PerceptionTest, 76.9 on TempCompass). Finally, we show how self-supervised learning can be applied to robotic planning tasks by post-training a latent action-conditioned world model, V-JEPA 2-AC, using less than 62 hours of unlabeled robot videos from the Droid dataset. We deploy V-JEPA 2-AC zero-shot on Franka arms in two different labs and enable picking and placing of objects using planning with image goals. Notably, this is achieved without collecting any data from the robots in these environments, and without any task-specific training or reward. This work demonstrates how self-supervised learning from web-scale data and a small amount of robot interaction data can yield a world model capable of planning in the physical world.

Cluster and Predict Latents Patches for Improved Masked Image Modeling

Masked Image Modeling (MIM) offers a promising approach to self-supervised representation learning, however existing MIM models still lag behind the state-of-the-art. In this paper, we systematically analyze target representations, loss functions, and architectures, to introduce CAPI - a novel pure-MIM framework that relies on the prediction of latent clusterings. Our approach leverages a clustering-based loss, which is stable to train, and exhibits promising scaling properties. Our ViT-L backbone, CAPI, achieves 83.8% accuracy on ImageNet and 32.1% mIoU on ADE20K with simple linear probes, substantially outperforming previous MIM methods and approaching the performance of the current state-of-the-art, DINOv2. We release all our code and models.

DINOv2 Meets Text: A Unified Framework for Image- and Pixel-Level Vision-Language Alignment

Self-supervised visual foundation models produce powerful embeddings that achieve remarkable performance on a wide range of downstream tasks. However, unlike vision-language models such as CLIP, self-supervised visual features are not readily aligned with language, hindering their adoption in open-vocabulary tasks. Our method, named dino.txt, unlocks this new ability for DINOv2, a widely used self-supervised visual encoder. We build upon the LiT training strategy, which trains a text encoder to align with a frozen vision model but leads to unsatisfactory results on dense tasks. We propose several key ingredients to improve performance on both global and dense tasks, such as concatenating the [CLS] token with the patch average to train the alignment and curating data using both text and image modalities. With these, we successfully train a CLIP-like model with only a fraction of the computational cost compared to CLIP while achieving state-of-the-art results in zero-shot classification and open-vocabulary semantic segmentation.

You Don't Need Data-Augmentation in Self-Supervised Learning

Self-Supervised learning (SSL) with Joint-Embedding Architectures (JEA) has led to outstanding performances. All instantiations of this paradigm were trained using strong and well-established hand-crafted data augmentations, leading to the general belief that they are required for the proper training and performance of such models. On the other hand, generative reconstruction-based models such as BEIT and MAE or Joint-Embedding Predictive Architectures such as I-JEPA have shown strong performance without using data augmentations except masking. In this work, we challenge the importance of invariance and data-augmentation in JEAs at scale. By running a case-study on a recent SSL foundation model - DINOv2 - we show that strong image representations can be obtained with JEAs and only cropping without resizing provided the training data is large enough, reaching state-of-the-art results and using the least amount of augmentation in the literature. Through this study, we also discuss the impact of compute constraints on the outcomes of experimental deep learning research, showing that they can lead to very different conclusions.

Automatic Data Curation for Self-Supervised Learning: A Clustering-Based Approach

Self-supervised features are the cornerstone of modern machine learning systems. They are typically pre-trained on data collections whose construction and curation typically require extensive human effort. This manual process has some limitations similar to those encountered in supervised learning, e.g., the crowd-sourced selection of data is costly and time-consuming, preventing scaling the dataset size. In this work, we consider the problem of automatic curation of high-quality datasets for self-supervised pre-training. We posit that such datasets should be large, diverse and balanced, and propose a clustering-based approach for building ones satisfying all these criteria. Our method involves successive and hierarchical applications of $k$-means on a large and diverse data repository to obtain clusters that distribute uniformly among data concepts, followed by a hierarchical, balanced sampling step from these clusters. Extensive experiments on three different data domains including web-based images, satellite images and text show that features trained on our automatically curated datasets outperform those trained on uncurated data while being on par or better than ones trained on manually curated data.

Advancing human-centric AI for robust X-ray analysis through holistic self-supervised learning

AI Foundation models are gaining traction in various applications, including medical fields like radiology. However, medical foundation models are often tested on limited tasks, leaving their generalisability and biases unexplored. We present RayDINO, a large visual encoder trained by self-supervision on 873k chest X-rays. We compare RayDINO to previous state-of-the-art models across nine radiology tasks, from classification and dense segmentation to text generation, and provide an in depth analysis of population, age and sex biases of our model. Our findings suggest that self-supervision allows patient-centric AI proving useful in clinical workflows and interpreting X-rays holistically. With RayDINO and small task-specific adapters, we reach state-of-the-art results and improve generalization to unseen populations while mitigating bias, illustrating the true promise of foundation models: versatility and robustness.

Vision Transformers Need Registers

Transformers have recently emerged as a powerful tool for learning visual representations. In this paper, we identify and characterize artifacts in feature maps of both supervised and self-supervised ViT networks. The artifacts correspond to high-norm tokens appearing during inference primarily in low-informative background areas of images, that are repurposed for internal computations. We propose a simple yet effective solution based on providing additional tokens to the input sequence of the Vision Transformer to fill that role. We show that this solution fixes that problem entirely for both supervised and self-supervised models, sets a new state of the art for self-supervised visual models on dense visual prediction tasks, enables object discovery methods with larger models, and most importantly leads to smoother feature maps and attention maps for downstream visual processing.

Think Before You Act: Unified Policy for Interleaving Language Reasoning with Actions

The success of transformer models trained with a language modeling objective brings a promising opportunity to the reinforcement learning framework. Decision Transformer is a step towards this direction, showing how to train transformers with a similar next-step prediction objective on offline data. Another important development in this area is the recent emergence of large-scale datasets collected from the internet, such as the ones composed of tutorial videos with captions where people talk about what they are doing. To take advantage of this language component, we propose a novel method for unifying language reasoning with actions in a single policy. Specifically, we augment a transformer policy with word outputs, so it can generate textual captions interleaved with actions. When tested on the most challenging task in BabyAI, with captions describing next subgoals, our reasoning policy consistently outperforms the caption-free baseline.

Sub-meter resolution canopy height maps using self-supervised learning and a vision transformer trained on Aerial and GEDI Lidar

Vegetation structure mapping is critical for understanding the global carbon cycle and monitoring nature-based approaches to climate adaptation and mitigation. Repeat measurements of these data allow for the observation of deforestation or degradation of existing forests, natural forest regeneration, and the implementation of sustainable agricultural practices like agroforestry. Assessments of tree canopy height and crown projected area at a high spatial resolution are also important for monitoring carbon fluxes and assessing tree-based land uses, since forest structures can be highly spatially heterogeneous, especially in agroforestry systems. Very high resolution satellite imagery (less than one meter (1m) ground sample distance) makes it possible to extract information at the tree level while allowing monitoring at a very large scale. This paper presents the first high-resolution canopy height map concurrently produced for multiple sub-national jurisdictions. Specifically, we produce canopy height maps for the states of California and S\~{a}o Paolo, at sub-meter resolution, a significant improvement over the ten meter (10m) resolution of previous Sentinel / GEDI based worldwide maps of canopy height. The maps are generated by applying a vision transformer to features extracted from a self-supervised model in Maxar imagery from 2017 to 2020, and are trained against aerial lidar and GEDI observations. We evaluate the proposed maps with set-aside validation lidar data as well as by comparing with other remotely sensed maps and field-collected data, and find our model produces an average Mean Absolute Error (MAE) within set-aside validation areas of 3.0 meters.

DINOv2: Learning Robust Visual Features without Supervision

The recent breakthroughs in natural language processing for model pretraining on large quantities of data have opened the way for similar foundation models in computer vision. These models could greatly simplify the use of images in any system by producing all-purpose visual features, i.e., features that work across image distributions and tasks without finetuning. This work shows that existing pretraining methods, especially self-supervised methods, can produce such features if trained on enough curated data from diverse sources. We revisit existing approaches and combine different techniques to scale our pretraining in terms of data and model size. Most of the technical contributions aim at accelerating and stabilizing the training at scale. In terms of data, we propose an automatic pipeline to build a dedicated, diverse, and curated image dataset instead of uncurated data, as typically done in the self-supervised literature. In terms of models, we train a ViT model (Dosovitskiy et al., 2020) with 1B parameters and distill it into a series of smaller models that surpass the best available all-purpose features, OpenCLIP (Ilharco et al., 2021) on most of the benchmarks at image and pixel levels.