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Introducing Moto: Latent Motion Token as the Bridging Language for Robot Manipulation. Motion prior learned from videos can be seamlessly transferred to robot manipulation. Code and model released! Yi CHEN Yuying Ge Yixiao Ge Mingyu Ding Ying Shan

15,039 views • 1 year ago •via X (Twitter)

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𝗥𝗼𝗯𝗼𝘁𝘀 𝗱𝗼𝗻’𝘁 𝗻𝗲𝗲𝗱 𝗺𝗼𝗿𝗲 𝗱𝗲𝗺𝗼𝗻𝘀𝘁𝗿𝗮𝘁𝗶𝗼𝗻𝘀. 𝗧𝗵𝗲𝘆 𝗻𝗲𝗲𝗱 𝘁𝗼 𝗹𝗲𝗮𝗿𝗻 𝗳𝗿𝗼𝗺 𝗳𝗮𝗶𝗹𝘂𝗿𝗲 — 𝗮𝗳𝘁𝗲𝗿 𝘄𝗮𝘁𝗰𝗵𝗶𝗻𝗴 𝗵𝘂𝗺𝗮𝗻𝘀. Most robot learning systems assume failure is the end of learning. In our new work, we study whether robots can improve after deployment by learning from their own failures, without any human intervention, teleoperation, or corrective labels. The key idea is simple: human videos contain structure about how the world works. We use them to learn cross-embodiment representations of action, dynamics, and value, enabling a shared predictive space between human behavior and robot experience. This allows a new learning loop: 👉 pretrain on human videos 👉 deploy robot policy 👉 observe failures 👉 reinterpret failures using human priors 👉 improve autonomously We evaluate this across 7 real-world manipulation tasks, showing: 📈 40% → 81% success rate 🏆 Strong improvements over π0.6 RECAP and RISE ✔️ Zero human intervention during post-deployment improvement 🧬 Generalizes across robot embodiments and policy backbones A key finding is that explicit failure repair significantly outperforms failure reweighting, yielding substantially larger gains under identical data conditions (+25 pts vs +5 pts on the same π0.5 base policy). Overall, the results suggest a shift in how we think about robot learning: Human videos are not only for pretraining policies. They can provide the structure needed for continual self-improvement after deployment. 📄 Paper: 🌐 Project: I am grateful for working with the fantastic leads Hanzhi Chen and Anran Zhang, and our collaborators Simon Schaefer, Kejia Chen, Shi Chen, Daniel Cremers. Special thanks to Stefan Leutenegger for co-advising this project with me. ETH Zürich TU München Microsoft Check out Hanzhi's 🧵 for more details

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𝗗𝗼𝗻'𝘁 𝗳𝗶𝗻𝗲-𝘁𝘂𝗻𝗲 𝗿𝗼𝗯𝗼𝘁 𝗳𝗼𝘂𝗻𝗱𝗮𝘁𝗶𝗼𝗻 𝗺𝗼𝗱𝗲𝗹𝘀. 𝗦𝘁𝗲𝗲𝗿 𝘁𝗵𝗲𝗺 𝘄𝗶𝘁𝗵 𝗵𝘂𝗺𝗮𝗻 𝗰𝗼𝗿𝗿𝗲𝗰𝘁𝗶𝗼𝗻𝘀 𝗶𝗻𝘀𝘁𝗲𝗮𝗱, 𝘄𝗶𝘁𝗵𝗼𝘂𝘁 𝗰𝗵𝗮𝗻𝗴𝗶𝗻𝗴 𝘁𝗵𝗲 𝗯𝗮𝘀𝗲 𝗽𝗼𝗹𝗶𝗰𝘆 Modern VLAs and world-action models can perform impressive manipulation skills, but adapting them reliably to new robots and tasks remains challenging. A natural solution is DAgger-style online imitation learning: deploy the robot, collect human corrections, and update the policy. Yet foundation models are fragile in the low-data regime, fine-tuning on a handful of interventions can improve one behavior while degrading others. Online post-training or reinforcement learning can require costly data collection and exploration, making real-world learning expensive and potentially unsafe. In our new paper, 𝗙𝗹𝗼𝘄𝗗𝗔𝗴𝗴𝗲𝗿, we take a different approach: 𝗜𝗻𝘀𝘁𝗲𝗮𝗱 𝗼𝗳 𝗰𝗵𝗮𝗻𝗴𝗶𝗻𝗴 𝘁𝗵𝗲 𝗳𝗼𝘂𝗻𝗱𝗮𝘁𝗶𝗼𝗻 𝗺𝗼𝗱𝗲𝗹, 𝘄𝗲 𝗹𝗲𝗮𝗿𝗻 𝗵𝗼𝘄 𝘁𝗼 𝘀𝘁𝗲𝗲𝗿 𝗶𝘁 𝗳𝗿𝗼𝗺 𝗵𝘂𝗺𝗮𝗻 𝗰𝗼𝗿𝗿𝗲𝗰𝘁𝗶𝗼𝗻𝘀. The key idea is 𝗮𝗰𝘁𝗶𝗼𝗻 𝗶𝗻𝘃𝗲𝗿𝘀𝗶𝗼𝗻: we map human corrective actions back into the latent noise space of the frozen generative policy. These latent targets train a lightweight controller that adapts the robot while preserving the original model's capabilities. Across simulation and real robots, FlowDAgger: 📈 Learns from only 5–20 human intervention episodes 🏆 Outperforms supervised fine-tuning and latent-space reinforcement learning 🤖 Works across VLAs, diffusion policies, and world-action models ✔️ Provides reliable improvements without modifying the pretrained policy We believe this offers a practical path toward making robot foundation models improve during deployment, learning from the way humans naturally teach: through corrections. 📄 Paper: 🌐 Project: 💻 Code: This project was led by my amazing colleague Michael Murray with help from Daphne Chen, Simran Bagaria, Dean Fortier, Tess Hellebrekers, Harshavardhan Reddy Gajarla, Galen Mullins and Andrey Kolobov at Microsoft Research and Maya Cakmak at University of Washington

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Created with seadance 2.5 When the city falls, she becomes the weapon. A cinematic transformation from human to colossal combat machine, built for one final stand against the monsters. Prompt: 15-second ultra-photorealistic cinematic sci-fi action sequence. A powerful young woman stands alone in the middle of a destroyed futuristic city at night. Broken buildings, burning vehicles, smoke, sparks, rain-soaked streets and massive alien monsters surrounding her. She wears a sleek futuristic black tactical suit. The entire scene feels physically real, gritty and cinematic. 0–3 sec — Transformation Begins: Extreme close-up of her eyes as a mysterious blue-white energy suddenly activates inside her body. Energy pulses across her skin like glowing circuits. Strong wind surrounds her, dust and debris lifting from the ground. She looks directly at the approaching monsters with a determined expression. 3–6 sec — Full Transformation: The energy explodes outward. Massive mechanical armor rapidly forms around her body piece by piece, with realistic metallic components locking together, pistons moving, cables connecting and glowing energy cores powering up. Her body transforms seamlessly into a gigantic 20-meter-tall humanoid combat robot. The transformation must feel physically believable, detailed and mechanical—not magical or cartoonish. 6–9 sec — Power Activation: Low-angle shot of the completed giant robot standing above the ruined city. Its energy core ignites, eyes glow intensely, steam and smoke release from mechanical joints. It clenches its enormous metal fists and takes one powerful step forward, causing the wet ground to crack and debris to jump. 9–12 sec — First Attack: Three enormous alien monsters charge toward the robot. The robot launches forward with surprising speed, grabs one monster and violently throws it through several abandoned vehicles. Another monster attacks from behind; the robot instantly turns and blocks the strike with its armored arm. 12–15 sec — Final Action Shot: Dynamic tracking shot as the giant robot punches the largest monster with massive force, sending it crashing through a damaged building. A huge shockwave pushes smoke and debris outward. The robot stands in the middle of the destruction as rain falls over its glowing armor, then looks toward the remaining monsters. Ultra-photorealistic CGI/VFX, realistic metallic materials, physically accurate reflections, detailed mechanical engineering, realistic weight and momentum, natural motion blur, realistic debris physics, cinematic explosions, volumetric smoke, rain interaction, dramatic lighting, high-detail textures, dynamic camera movement, low-angle hero shots, handheld impact moments, seamless transformation, consistent character design throughout, epic Hollywood sci-fi action movie quality, 4K, no cartoon look, no anime, no text, no watermark.

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