Jungwoo Lee

Jung Min Lee, Dohyeok Lee, Seokhun Ju et al.

Learning \emph{latent actions} from diverse human videos enables scaling robot learning beyond embodiment-specific robot datasets, and these latent actions have recently been used as pseudo-action labels for vision-language-action (VLA) model pretraining. To make VLA pretraining effective, latent actions should contain information about the underlying agent's actions despite the absence of ground-truth labels. We propose \textbf{M}ulti-\textbf{V}iew\textbf{P}oint \textbf{L}atent \textbf{A}ction \textbf{M}odel (\textbf{MVP-LAM}), which learns discrete latent actions that are highly informative about ground-truth actions from time-synchronized multi-view videos. MVP-LAM trains latent actions with a \emph{cross-viewpoint reconstruction} objective, so that a latent action inferred from one view must explain the future in another view, reducing reliance on viewpoint-specific cues. On Bridge V2, MVP-LAM produces more action-centric latent actions, achieving higher mutual information with ground-truth actions and improved action prediction, including under out-of-distribution evaluation. Finally, pretraining VLAs with MVP-LAM latent actions improves downstream manipulation performance on the SIMPLER and LIBERO-Long benchmarks.

Hyunho Cha, Wonjung Kim, Jungwoo Lee

A scalable Bayesian machine learning framework is introduced for estimating scalar properties of an unknown quantum state from measurement data, which bypasses full density matrix reconstruction. This work is the first to integrate the classical shadows protocol with a permutation-invariant set transformer architecture, enabling the approach to predict and correct bias in existing estimators to approximate the true Bayesian posterior mean. Measurement outcomes are encoded as fixed-dimensional feature vectors, and the network outputs a residual correction to a baseline estimator. Scalability to large quantum systems is ensured by the polynomial dependence of input size on system size and number of measurements. On Greenberger-Horne-Zeilinger state fidelity and second-order Rényi entropy estimation tasks -- using random Pauli and random Clifford measurements -- this Bayesian estimator always achieves lower mean squared error than classical shadows alone, with more than a 99\% reduction in the few copy regime.