This&That: Language-Gesture Controlled Video Generation for Robot Planning

• URL: http://arxiv.org/abs/2407.05530v2
• Date: Sun, 18 May 2025 04:20:01 GMT
• Title: This&That: Language-Gesture Controlled Video Generation for Robot Planning
• Authors: Boyang Wang, Nikhil Sridhar, Chao Feng, Mark Van der Merwe, Adam Fishman, Nima Fazeli, Jeong Joon Park,
• Abstract summary: We propose a robot learning framework for communicating, planning, and executing a wide range of tasks, dubbed This&That.<n>This&That solves general tasks by leveraging video generative models, which, through training on internet-scale data, contain rich physical and semantic context.<n>We tackle three fundamental challenges in video-based planning: 1) unambiguous task communication with simple human instructions, 2) controllable video generation that respects user intent, and 3) translating visual plans into robot actions.
• Score: 14.60108861767878
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Clear, interpretable instructions are invaluable when attempting any complex task. Good instructions help to clarify the task and even anticipate the steps needed to solve it. In this work, we propose a robot learning framework for communicating, planning, and executing a wide range of tasks, dubbed This&That. This&That solves general tasks by leveraging video generative models, which, through training on internet-scale data, contain rich physical and semantic context. In this work, we tackle three fundamental challenges in video-based planning: 1) unambiguous task communication with simple human instructions, 2) controllable video generation that respects user intent, and 3) translating visual plans into robot actions. This&That uses language-gesture conditioning to generate video predictions, as a succinct and unambiguous alternative to existing language-only methods, especially in complex and uncertain environments. These video predictions are then fed into a behavior cloning architecture dubbed Diffusion Video to Action (DiVA), which outperforms prior state-of-the-art behavior cloning and video-based planning methods by substantial margins.

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