Latent Action Pretraining from Videos

We introduce Latent Action Pretraining for general Action models (LAPA), an 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 teleoperators during pretraining, which significantly limits possible data sources and scale. In this work, we propose a method to learn from internet-scale videos that do not have robot action labels. We first train an action quantization model leveraging VQ-VAE-based objective to learn discrete latent actions between image frames, then pretrain a latent VLA model to predict these latent actions from observations and task descriptions, and finally finetune the VLA on small-scale robot manipulation data to map from latent to robot actions. Experimental results demonstrate that our method significantly outperforms existing techniques that train robot manipulation policies from large-scale videos. Furthermore, it outperforms the state-of-the-art VLA model trained with robotic action labels on real-world manipulation tasks that require language conditioning, generalization to unseen objects, and semantic generalization to unseen instructions. Training only on human manipulation videos also shows positive transfer, opening up the potential for leveraging web-scale data for robotics foundation model.

Semiparametric Token-Sequence Co-Supervision

In this work, we introduce a semiparametric token-sequence co-supervision training method. It trains a language model by simultaneously leveraging supervision from the traditional next token prediction loss which is calculated over the parametric token embedding space and the next sequence prediction loss which is calculated over the nonparametric sequence embedding space. The nonparametric sequence embedding space is constructed by a separate language model tasked to condense an input text into a single representative embedding. Our experiments demonstrate that a model trained via both supervisions consistently surpasses models trained via each supervision independently. Analysis suggests that this co-supervision encourages a broader generalization capability across the model. Especially, the robustness of parametric token space which is established during the pretraining step tends to effectively enhance the stability of nonparametric sequence embedding space, a new space established by another language model.

How Well Do Large Language Models Truly Ground?

Reliance on the inherent knowledge of Large Language Models (LLMs) can cause issues such as hallucinations, lack of control, and difficulties in integrating variable knowledge. To mitigate this, LLMs can be probed to generate responses by grounding on external context, often given as input (knowledge-augmented models). Yet, previous research is often confined to a narrow view of the term "grounding", often only focusing on whether the response contains the correct answer or not, which does not ensure the reliability of the entire response. To address this limitation, we introduce a strict definition of grounding: a model is considered truly grounded when its responses (1) fully utilize necessary knowledge from the provided context, and (2) don't exceed the knowledge within the contexts. We introduce a new dataset and a grounding metric to assess this new definition and perform experiments across 13 LLMs of different sizes and training methods to provide insights into the factors that influence grounding performance. Our findings contribute to a better understanding of how to improve grounding capabilities and suggest an area of improvement toward more reliable and controllable LLM applications.