نسخة أولية وصول مفتوح
Keep the Effect, Drop the Actor: Programmable Effect-to-Execution World-Action Models
A robot demonstration records two things in the same frames: what happened to the objects, and how one particular arm made it happen. We condition on the first. A demonstration is compiled into an effect program: the 3D keypoint trajectories of the objects that moved, two points marking where each was held, and the con …