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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.05815 |
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| _version_ | 1866910042979041280 |
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| author | Kim, Hanjung Pinto, Lerrel Kim, Seon Joo |
| author_facet | Kim, Hanjung Pinto, Lerrel Kim, Seon Joo |
| contents | Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon frame transitions and capture low-level motion while overlooking longer-term temporal structure. In contrast, actionless videos often contain temporally extended and high-level skills. We present HiLAM, a hierarchical latent action model that discovers latent skills by modeling long-term temporal information. To capture these dependencies across long horizons, we utilize a pretrained LAM as a low-level extractor. This architecture aggregates latent action sequences, which contain the underlying dynamic patterns of the video, into high-level latent skills. Our experiments demonstrate that HiLAM improves over the baseline and exhibits robust dynamic skill discovery. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_05815 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Hierarchical Latent Action Model Kim, Hanjung Pinto, Lerrel Kim, Seon Joo Robotics Latent Action Models (LAMs) enable learning from actionless data for applications ranging from robotic control to interactive world models. However, existing LAMs typically focus on short-horizon frame transitions and capture low-level motion while overlooking longer-term temporal structure. In contrast, actionless videos often contain temporally extended and high-level skills. We present HiLAM, a hierarchical latent action model that discovers latent skills by modeling long-term temporal information. To capture these dependencies across long horizons, we utilize a pretrained LAM as a low-level extractor. This architecture aggregates latent action sequences, which contain the underlying dynamic patterns of the video, into high-level latent skills. Our experiments demonstrate that HiLAM improves over the baseline and exhibits robust dynamic skill discovery. |
| title | Hierarchical Latent Action Model |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.05815 |