FF's Roam Notes

AgiBot World Colosseo: Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

1 min read

This paper has two major contributions:

  1. proposes a large dataset, containing 217 specific tasks, 87 skills and 106 scenes. Most of tasks involving dual-arm manipulation, dexterous hands, and collaborative tasks.

  2. proposes a hierarchical Vision-Language-Latent-Action (ViLLA) framework with three training stages: latent action model trained by VQ-VAE objective, latent planner (for action latent) trained by VLM backbone-based model, and action expert (for action).

Some interesting things from the paper:

  1. Two-billion parameter scale has proven effective for robotic tasks.

  2. Action chunking set to 30.

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