LAPT-Scale：人間動画の潜在行動事前学習による身体性ポリシーのスケーリング
LAPT-Scale: Scaling Embodied Policies with Latent Action Pre-Training on Human Videos
人間の一人称視点動画から連続潜在行動を学習し、それを事前学習に用いることでロボットポリシーの性能をスケールさせ、実機成功率を63.3%から85.0%に向上させた。
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著者: Zhiyuan Xiang, Peidong Liu, Mingyang Li, Jiawei Li, Wenhow Li, Wenbo Ding, Xiang Deng
分類: cs.CV, cs.AI, cs.RO
原文アブストラクト
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.