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The Korean verb endings 았어요, 었어요, and 였어요 are used to form informal polite sentences in the past tense.
았어요 (a-sseo-yo):
Used when the verb stem has ㅏ or ㅗ as its last vowel.
Example: 가다 (to go) → 갔어요 (ga-sseo-yo)
었어요 (eo-sseo-yo):
Used when the verb stem has any vowel other than ㅏ or ㅗ as its last vowel.
Example: 먹다 (to eat) → 먹었어요 (meo-geo-sseo-yo)
였어요 (yeo-sseo-yo):
Used only for 하다 verbs.
Example: 하다 (to do) → 하였어요 → 했어요 (hae-sseo-yo)
