LAPT-Scale: Scaling Embodied Policies with Latent Action Pre-Training on Human Videos

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Scaling generalist robotic policies is limited by the high cost of collecting embodied interaction data. Large-scale egocentric human videos offer a rich alternative, but they lack robot action labels, and existing action annotation methods are often noisy under real-world visual complexity and diverse manipulation dynamics. We introduce LAPT-Scale, a scalable latent action pre-training paradigm with two components: LAPT-Scale-LAM learns continuous latent actions by explaining frame-to-frame visual transitions in human videos and uses them as human-derived supervision, while LAPT-Scale-Policy trains a VLA policy through human-video latent-action pre-training, target-robot embodiment alignment, and task-specific post-training. Unlike prior vector-quantized LAMs, LAPT-Scale-LAM uses a continuous latent space to preserve fine-grained motion and interaction dynamics. We further combine perceptual, semantic, and optical-flow alignment signals to improve transition-level supervision beyond pixel reconstruction. Trained on 23.3K hours of egocentric video, LAPT-Scale-LAM provides implicit action supervision for policy pre-training, yielding consistent scaling gains and improving real-robot success from 63.3% to 85.0% as annotated human video scales from 1K to 5K hours. The learned policy also generalizes to unseen visual conditions.

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• Official / arXiv page
• PDF from original source

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