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Action Parameters

    
RobotSO-101

    
DoF6 joints

    
NoiseN(0, I)

    
Flowτ ∈ [0, 1]

    
BackboneDiT

  

  

    
Training Progress

    

  

  

    
Joint Actions (6 DoF)

    

  





  

    
Legend

    
Noise Samples (τ=0)

    
Target Actions (τ=1)

    
Flow Paths

    
Interpolated (τ=0.5)

    
True Velocity

    
Predicted Velocity

  







  

    
Ready

    
Press Play to see how the Action Expert uses flow matching to learn robot actions — sampling noise, defining linear flows to targets, and training a DiT to predict velocity fields. Step 3 of the pi0 architecture.

  

  

    
    
    
    
Speed1x