Moto: Latent Motion Token as the Bridging Language for Robot Manipulation

🤗 Upvotes: 18 | cs.RO, cs.AI, cs.CL, cs.CV, cs.LG

Authors:
Yi Chen, Yuying Ge, Yizhuo Li, Yixiao Ge, Mingyu Ding, Ying Shan, Xihui Liu

Title:
Moto: Latent Motion Token as the Bridging Language for Robot Manipulation

Arxiv:
http://arxiv.org/abs/2412.04445v1

Abstract:
Recent developments in Large Language Models pre-trained on extensive corpora have shown significant success in various natural language processing tasks with minimal fine-tuning. This success offers new promise for robotics, which has long been constrained by the high cost of action-labeled data. We ask: given the abundant video data containing interaction-related knowledge available as a rich "corpus", can a similar generative pre-training approach be effectively applied to enhance robot learning? The key challenge is to identify an effective representation for autoregressive pre-training that benefits robot manipulation tasks. Inspired by the way humans learn new skills through observing dynamic environments, we propose that effective robotic learning should emphasize motion-related knowledge, which is closely tied to low-level actions and is hardware-agnostic, facilitating the transfer of learned motions to actual robot actions. To this end, we introduce Moto, which converts video content into latent Motion Token sequences by a Latent Motion Tokenizer, learning a bridging "language" of motion from videos in an unsupervised manner. We pre-train Moto-GPT through motion token autoregression, enabling it to capture diverse visual motion knowledge. After pre-training, Moto-GPT demonstrates the promising ability to produce semantically interpretable motion tokens, predict plausible motion trajectories, and assess trajectory rationality through output likelihood. To transfer learned motion priors to real robot actions, we implement a co-fine-tuning strategy that seamlessly bridges latent motion token prediction and real robot control. Extensive experiments show that the fine-tuned Moto-GPT exhibits superior robustness and efficiency on robot manipulation benchmarks, underscoring its effectiveness in transferring knowledge from video data to downstream visual manipulation tasks.

What is Daily Paper Cast?

We update every weekday to discuss highest-voted papers from Huggingface Daily Paper (https://huggingface.co/papers). Both the podcast scripts and audio are generated by AI. Feedback and suggestions are welcome! Email us: [e-mail]

Creator:
Jingwen Liang, 3D ML, https://www.linkedin.com/in/jingwen-liang/
Gengyu Wang, LLM ML, http://wanggengyu.com

Listen on:
Spotify: https://open.spotify.com/show/21nrhmdaA8qoBiH8q03NXL
Apple Podcast: https://podcasts.apple.com/us/podcast/daily-paper-cast/id1777620236

Cover Image by Kawen Kuang https://kawen.art