FloMo: 3D Scene Flow as a World Action Model Intermediate for Learning from Human Video
Pretrained video generation models distill internet-scale motion priors into robot policies, but full video is a redundant signal for action prediction. We argue that dense 3D motion is the medium through which video pretraining best transfers to robot actions, and that predicting motion rather than video affords bette...
Jeremy A. Collins, Namra Patel, A. Agarwal et al.
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