Agreed, I don't know much about JEPA but i wish this article had explained / motivated the memory graph more. "3. Fill gaps in memory with transformed memories" in particular seemed really really damning for the models—when you removed the examples from the demonstration that were near the goal state, the model completely broke. It seems like the only way you could make the model work again would be to manually flip and transform the memories it did have so there was something in the vicinity of the goal location.

That seems like a really massive failure of the model to generalize? This doesn't seem like a new technique, it seems like you've discovered a pretty big issue with the fundamental setup