LangToMo uses a diffusion model to generate text-conditioned pixel motion from a single frame and a lightweight mapping to convert that motion into robot actions, beating several prior flow- and video-based methods on manipulation benchmarks.
Self-supervised Co-training for Video Representation Learning
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abstract
The objective of this paper is visual-only self-supervised video representation learning. We make the following contributions: (i) we investigate the benefit of adding semantic-class positives to instance-based Info Noise Contrastive Estimation (InfoNCE) training, showing that this form of supervised contrastive learning leads to a clear improvement in performance; (ii) we propose a novel self-supervised co-training scheme to improve the popular infoNCE loss, exploiting the complementary information from different views, RGB streams and optical flow, of the same data source by using one view to obtain positive class samples for the other; (iii) we thoroughly evaluate the quality of the learnt representation on two different downstream tasks: action recognition and video retrieval. In both cases, the proposed approach demonstrates state-of-the-art or comparable performance with other self-supervised approaches, whilst being significantly more efficient to train, i.e. requiring far less training data to achieve similar performance.
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cs.RO 1years
2025 1verdicts
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Pixel Motion as Universal Representation for Robot Control
LangToMo uses a diffusion model to generate text-conditioned pixel motion from a single frame and a lightweight mapping to convert that motion into robot actions, beating several prior flow- and video-based methods on manipulation benchmarks.