We introduce Latent Action Pretraining for general Action models (LAPA), the first 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 models.

Seungone Kim, Juyoung Suk, Ji Yong Cho, Shayne Longpre, Chaeeun Kim, Dongkeun Yoon, Guijin Son, Yejin Cho, Sheikh Shafayat, Jinheon Baek, Sue Hyun Park, Hyeonbin Hwang, Jinkyung Jo, Hyowon Cho, Haebin Shin, Seongyun Lee, Hanseok Oh, Noah Lee, Namgyu Ho, Se June Joo, Miyoung Ko, Yoonjoo Lee, Hyungjoo Chae, Jamin Shin, Joel Jang, Seonghyeon Ye, Bill Yuchen Lin, Sean Welleck, Graham Neubig, Moontae Lee, Kyungjae Lee, Minjoon Seo. Proceedings of the 2025 Conference of the Nations of the Americas Chapter of the Association for Computational Linguistics: Human Language Technologies (Volume 1: Long Papers). 2025.

Hyunji Lee, Doyoung Kim, Jihoon Jun, Se June Joo, Joel Jang, Kyoung-Woon On, Minjoon Seo. Proceedings of the 62nd Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). 2024.

Hyunji Lee, Se June Joo, Chaeeun Kim, Joel Jang, Doyoung Kim, Kyoung-Woon On, Minjoon Seo. Proceedings of the 2024 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies (Volume 1: Long Papers). 2024.

Language models (LMs) with less than 100B parameters are known to perform poorly on chain-of-thought (CoT) reasoning in contrast to large LMs when solving unseen tasks.In this work, we aim to equip smaller LMs with the step-by-step reasoning capability by instruction tuning with CoT rationales.In order to achieve this goal, we first introduce a new instructiontuning dataset called the COT COLLECTION, which augments the existing Flan Collection (including only 9 CoT tasks) with additional 1.84 million rationales across 1,060 tasks.We show that CoT fine-tuning Flan-T5 (3B & 11B) with COT COLLECTION enables smaller LMs to have better CoT capabilities on unseen tasks.On the BIG-Bench-Hard (BBH) benchmark, we report an average improvement of +4.34% (Flan-T5 3B) and +2.60% (Flan-T5 11B), in terms of zero-shot task accuracy.Furthermore, we show that instruction tuning with COT COL-LECTION allows LMs to possess stronger fewshot learning capabilities on 4 domain-specific tasks, resulting in an improvement of +2.24% (Flan-T5 3B) and +2.37% (Flan-T5 11B), even outperforming ChatGPT utilizing demonstrations until the max length by a +13.98% margin.Our code, the COT COLLECTION data, and model checkpoints are publicly available 1 .

In this paper, we propose to leverage the unique characteristics of dialogues sharing commonsense knowledge across participants, to resolve the difficulties in summarizing them. We present SICK, a framework that uses commonsense inferences as additional context. Compared to previous work that solely relies on the input dialogue, SICK uses an external knowledge model to generate a rich set of commonsense inferences and selects the most probable one with a similarity-based selection method. Built upon SICK, SICK++ utilizes commonsense as supervision, where the task of generating commonsense inferences is added upon summarizing the dialogue in a multi-task learning setting. Experimental results show that with injected commonsense knowledge, our framework generates more informative and consistent summaries than existing methods.