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LAPA: Latent Action Pretraining from Videos
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2026-02-21 06:26:49
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LAPA LAPA: Latent Action Pretraining from Videos Seonghyeon Ye * 1 , Joel Jang * 2 , Byeongguk Jeon 1 , Sejune Joo 1 , Jianwei Yang 3 , Baolin Peng 3 , Ajay Mandlekar 4 , Reuben Tan 3 , Yu-Wei Chao 4 , Yuchen Lin 5 , Lars Liden 3 , Kimin Lee 1 † , Jianfeng Gao 3 † , Luke Zettlemoyer 2 † , Dieter Fox 2,4 † , Minjoon Seo 1 † 1 KAIST 2 University of Washington 3 Microsoft Research 4 NVIDIA 5 Allen Institute for AI * Equal contribution, † Equal advising ArXiv Code Model Abstract We introduce L atent A ction P retraining for general A ction models (LAPA), the first unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot action labels. Existing Vision-Language-Action models require action labels typically collected by human teleo...
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