CogRobot uses optical flow as an intermediate variable to fine-tune a text-to-video model for predicting bimanual robot trajectories, then maps those predictions to actions with a goal-conditioned diffusion policy.
Towards human-level bimanual dexterous manipulation with reinforcement learning.Advances in Neural Information Processing Systems, 35:5150–5163, 2022
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Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction
CogRobot uses optical flow as an intermediate variable to fine-tune a text-to-video model for predicting bimanual robot trajectories, then maps those predictions to actions with a goal-conditioned diffusion policy.