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在第二阶段中作者预训练一个 VLA 模型，去预测前一阶段产生的 latent action z_t ，这一阶段得到的模型就叫做 LAPA。 在第三阶段中，把原本预测 latent action 的 MLP 去掉，然后换成了一个预测真实 action 的 MLP。 Landmark guided face Parsing Dataset (LaPa)是京东人工智能发布的数据集，可用于人脸关键点检测 (106个点)和人脸解析 (11个类别，包含了背景类)。 Lapa is divided into two stages

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Latent action quantization and latent pretraining Please get in touch with ali.mortazavi@uci.edu for questions related to maintenance. LAPA（Latent Action Pretraining from Videos）是一个基于视频的潜在动作预训练项目。 该项目提供了一种无需真实机器人动作标签即可进行视觉-语言-动作（VLA）模型的无监督预训练方法。

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我们介绍了一种通用行动模型的潜在行动预训练方法（LAPA），这是一种无监督的方法，可对视觉-语言-动作（VLA）模型进行预训练，而无需真实的机器人动作标签。