PoLAR:将潜在动作中的程度和模式分解用于机器人策略学习
阅读原文· arxiv.orgPoLAR 在潜在动作空间上施加径向结构,使半径编码过渡程度、方向保留过渡模式。利用两帧观测间的时间偏移作为过渡程度的弱代理,在双曲空间中实例化,借助其随半径膨胀的体积容纳更大程度下的多样化模式。在任务内和大规模预训练中,PoLAR 在仿真和真实机器人实验里提升了下游策略性能,优于潜在动作基线及强预训练 VLA 模型。
Latent action pretraining learns representations of visual change from pairs of observations, but existing methods typically encode each transition as a single unstructured representation that entangles transition extent and transition mode. We introduce Polar Latent Actions with Radial structure (PoLAR), which imposes a radial-direction structure on latent actions, encouraging radius to encode transition extent and direction to retain transition mode. PoLAR uses temporal offset between two observations as a weak proxy for transition extent, encouraging latent action from observation pairs separated by larger temporal gaps to occupy larger radii. We instantiate this structure in hyperbolic space, whose expanding volume with radius offers a natural fit for more diverse transition modes at larger extents. Across in-task and large-scale pretraining settings, PoLAR improves downstream policy performance in simulation and real-world robot experiments, outperforming latent action baselines and strong pretrained VLAs. These results suggest that the geometry of the latent action space is an important design choice for transferring visual pretraining to downstream robot policy learning.