ResearchBenchmarksPlanning on ReacherPlanning on ReacherFollow88Planning Success RateSD-JEPA77.680.38385.7May 10, 2026May 13, 2026May 16, 2026May 19, 2026May 22, 2026May 25, 2026May 29, 2026Evaluation resultsMethodMethodLinksPlanning Success RateSD-JEPASelection=best k, k_pr...Selection=best k, k_prog=42026.0588LEWM2026.0586Sub-JEPA2026.0584SD-JEPAk_prog=2, Number of se...k_prog=2, Number of seeds (n)=32026.0584LeWM2026.0582.67DINO-WMProprioception=withoutProprioception=without2026.0579PLDM2026.0578