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Joint-Embedding Prediction of Masked Point Tubes for Self-Supervised Learning on 4D Point Cloud Videos

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Self-supervised representation learning for 4D point cloud videos is challenging because annotations are costly and reconstruction-based pretraining can overemphasize low-level geometric details. We propose a JEPA-style framework that learns from unlabeled spatiotemporal point clouds through latent point-tube prediction. Instead of reconstructing raw coordinates, the model masks spatiotemporal regions and predicts their target representations from visible context representations in feature space. To stabilize latent prediction, we incorporate Sketched Isotropic Gaussian Regularization, which e

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