4 papers
Vision-Language Models Unlock Task-Centric Latent Actions
Alexander Nikulin, Ilya Zisman, Albina Klepach +5
Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when o…
NinA: Normalizing Flows in Action. Training VLA Models with Normalizing Flows
Denis Tarasov, Alexander Nikulin, Ilya Zisman +5
Recent advances in Vision-Language-Action (VLA) models have established a two-component architecture, where a pre-trained Vision-Language Model (VLM) encodes visual observations an…
Object-Centric Latent Action Learning
Albina Klepach, Alexander Nikulin, Ilya Zisman +6
Leveraging vast amounts of unlabeled internet video data for embodied AI is currently bottlenecked by the lack of action labels and the presence of action-correlated visual distrac…
Latent Action Learning Requires Supervision in the Presence of Distractors
Alexander Nikulin, Ilya Zisman, Denis Tarasov +4
Recently, latent action learning, pioneered by Latent Action Policies (LAPO), have shown remarkable pre-training efficiency on observation-only data, offering potential for leverag…