EC-Flow predicts pixel trajectories on the robot body (embodiment-centric flow) from action-unlabeled videos and uses the robot's URDF model to convert those trajectories into executable actions, improving performance on deformable, occluded, and non-displacement tasks.
Tenenbaum, Leslie Pack Kaelbling, Andy Zeng, and Jonathan Tompson
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EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flow
EC-Flow predicts pixel trajectories on the robot body (embodiment-centric flow) from action-unlabeled videos and uses the robot's URDF model to convert those trajectories into executable actions, improving performance on deformable, occluded, and non-displacement tasks.