FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model

• URL: http://arxiv.org/abs/2412.08261v2
• Date: Sun, 16 Feb 2025 03:13:51 GMT
• Title: FLIP: Flow-Centric Generative Planning as General-Purpose Manipulation World Model
• Authors: Chongkai Gao, Haozhuo Zhang, Zhixuan Xu, Zhehao Cai, Lin Shao,
• Abstract summary: We present FLow-centric generative Planning (FLIP), a model-based planning algorithm on visual space.<n>FLIP is able to synthesize long-horizon plans across objects, robots, and tasks with image flows as the general action representation.<n>In addition, the synthesized flow and video plans can guide the training of low-level control policies for robot execution.
• Score: 2.9509867426905925
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We aim to develop a model-based planning framework for world models that can be scaled with increasing model and data budgets for general-purpose manipulation tasks with only language and vision inputs. To this end, we present FLow-centric generative Planning (FLIP), a model-based planning algorithm on visual space that features three key modules: 1. a multi-modal flow generation model as the general-purpose action proposal module; 2. a flow-conditioned video generation model as the dynamics module; and 3. a vision-language representation learning model as the value module. Given an initial image and language instruction as the goal, FLIP can progressively search for long-horizon flow and video plans that maximize the discounted return to accomplish the task. FLIP is able to synthesize long-horizon plans across objects, robots, and tasks with image flows as the general action representation, and the dense flow information also provides rich guidance for long-horizon video generation. In addition, the synthesized flow and video plans can guide the training of low-level control policies for robot execution. Experiments on diverse benchmarks demonstrate that FLIP can improve both the success rates and quality of long-horizon video plan synthesis and has the interactive world model property, opening up wider applications for future works.Video demos are on our website: https://nus-lins-lab.github.io/flipweb/.

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