From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined futures for action execution remains challenging. Existing approaches either condition policies on predicted frames or directly decode generated videos into actions, both suffering from a mismatch between visual realism and control relevance. As a result, predicted observations emphasize perceptual fidelity rather than action-centric causes of state transitions, leading to indirect and unstable control. To address this gap, we propose MoLA (Mixture of Latent Actions), a control-oriented interface that transforms im...
| Authors | Yajie Li, Bozhou Zhang, Chun Gu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 May 2026 |
| Last updated at source | 12 May 2026 |
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