MBA is a plug-in module that generates robot actions by first diffusing predicted object pose sequences, then conditioning action diffusion on those poses, improving imitation-learning success rates across simulation and real-world benchmarks.
Track2act: Predicting point tracks from internet videos enables generalizable robot manipulation,
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Motion Before Action: Diffusing Object Motion as Manipulation Condition
MBA is a plug-in module that generates robot actions by first diffusing predicted object pose sequences, then conditioning action diffusion on those poses, improving imitation-learning success rates across simulation and real-world benchmarks.