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Generative Image as Action Models

By Mohit Shridhar and others
Image-generation diffusion models have been fine-tuned to unlock new capabilities such as image-editing and novel view synthesis. Can we similarly unlock image-generation models for visuomotor control? We present GENIMA, a behavior-cloning agent that fine-tunes Stable Diffusion to 'draw joint-actions' as targets on RGB images. These images are fed into a... Show more
July 10, 2024
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Generative Image as Action Models
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