ViPRA: Video Prediction for Robot Actions
This work addresses the challenge of robot learning from unlabeled video data, enabling generalization across embodiments with minimal teleoperated demonstrations, though it is incremental as it builds on prior latent action methods.
The paper tackles the problem of learning continuous robot control from actionless videos by introducing ViPRA, a pretraining-finetuning framework that predicts future visual observations and motion-centric latent actions, resulting in a 16% gain on the SIMPLER benchmark and a 13% improvement across real-world manipulation tasks.
Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We present Video Prediction for Robot Actions (ViPRA), a simple pretraining-finetuning framework that learns continuous robot control from these actionless videos. Instead of directly predicting actions, we train a video-language model to predict both future visual observations and motion-centric latent actions, which serve as intermediate representations of scene dynamics. We train these latent actions using perceptual losses and optical flow consistency to ensure they reflect physically grounded behavior. For downstream control, we introduce a chunked flow matching decoder that maps latent actions to robot-specific continuous action sequences, using only 100 to 200 teleoperated demonstrations. This approach avoids expensive action annotation, supports generalization across embodiments, and enables smooth, high-frequency continuous control upto 22 Hz via chunked action decoding. Unlike prior latent action works that treat pretraining as autoregressive policy learning, explicitly models both what changes and how. Our method outperforms strong baselines, with a 16% gain on the SIMPLER benchmark and a 13% improvement across real world manipulation tasks. We will release models and code at https://vipra-project.github.io