Latent Action Learning Requires Supervision in the Presence of Distractors

Recently, latent action learning, pioneered by Latent Action Policies (LAPO), have shown remarkable pre-training efficiency on observationonly data, offering potential for leveraging vast amounts of video available on the web for embodied AI. However, prior work has focused on distractor-free data, where changes between observations are primarily explained by ground-truth actions. Unfortunately, real-world videos contain action-correlated distractors that may hinder latent action learning. Using Distracting Control Suite (DCS) we empirically investigate the effect of distractors on latent action learning and demonstrate that LAPO struggle in such scenario. We propose LAOM, a simple LAPO modification that improves the quality of latent actions by 8x, as measured by linear probing. Importantly, we show that providing supervision with ground-truth actions, as few as 2.5% of the full dataset, during latent action learning improves downstream performance by 4.2x on average. Our findings suggest that integrating supervision during Latent Action Models (LAM) training is critical in the presence of distractors, challenging the conventional pipeline of first learning LAM and only then decoding from latent to ground-truth actions. Latent Action Learning Requires Supervision in the Presence of Distractors cheetah-run walker-run hopper-hop humanoid-walk Figure 2. Visualization of the environments from the Distracting Control Suite (DCS) used in our work. Top row: without any distractors, identical to the original DeepMind Control Suite. Bottom row: with distractors, which consists of dynamic background videos, agent color change and camera shaking. See Section 3 for additional details.