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

arXiv:2610.13732v1 Announce Type: cross 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 h

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