A two-stage robot manipulation policy that pre-trains a video diffusion transformer on Open X-Embodiment videos and then adapts it with a layer-wise self-attention adapter for action prediction, outperforming GR-1 on CALVIN.
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VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation
A two-stage robot manipulation policy that pre-trains a video diffusion transformer on Open X-Embodiment videos and then adapts it with a layer-wise self-attention adapter for action prediction, outperforming GR-1 on CALVIN.