notesum.ai

Published at December 5

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

cs.RO

cs.AI

cs.CL

cs.CV

cs.LG

Released Date: December 5, 2024

Authors: Yi Chen¹, Yuying Ge², Yizhuo Li¹, Yixiao Ge², Mingyu Ding³, Ying Shan², Xihui Liu¹

Aff.: ¹The University of Hong Kong; ²ARC Lab, Tencent PCG; ³University of California, Berkeley

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

[Uncaptioned image]

Method	Pick Coke Can				Move Near	Open / Close Drawer			Overall
Method	Horizontal	Vertical	Standing	Average	Average	Open	Close	Average	Average
RT-1-X [5]	0.820	0.330	0.550	0.567	0.317	0.296	0.891	0.597	0.534
RT-2-X [62]	0.740	0.740	0.880	0.787	0.779	0.157	0.343	0.250	0.607
Octo-Base [42]	0.210	0.210	0.090	0.170	0.042	0.009	0.444	0.227	0.169
OpenVLA [28]	0.270	0.030	0.190	0.163	0.462	0.194	0.518	0.356	0.248
Moto	0.820	0.500	0.900	0.740	0.604	0.130	0.732	0.431	0.614
Moto w/o Motion Token	0.600	0.190	0.740	0.503	0.554	0.000	0.796	0.398	0.480