One-shot imitation is the vision of robot programming from a single demonstration, rather than by tedious construction of computer code. We present a practical method for realizing one-shot imitation for manipulation tasks, exploiting modern learning-based optical flow to perform real-time visual servoing. Our approach, which we call FlowControl, continuously tracks a demonstration video, using a specified foreground mask to attend to an object of interest. Using RGB-D observations, FlowControl requires no 3D object models, and is easy to set up. FlowControl inherits great robustness to visual appearance from decades of work in optical flow. We exhibit FlowControl on a range of problems, including ones requiring very precise motions, and ones requiring the ability to generalize.

中文翻译：

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FlowControl：基于光流的视觉服务

一次性模仿是从一次演示中实现机器人编程的愿景，而不是通过繁琐的计算机代码构建。我们提出了一种实现操作任务一次性模仿的实用方法，利用基于现代学习的光流来执行实时视觉伺服。我们的方法，我们称之为 FlowControl，连续跟踪演示视频，使用指定的前景蒙版来关注感兴趣的对象。使用 RGB-D 观察，FlowControl 不需要 3D 对象模型，并且易于设置。FlowControl 从几十年的光流工作中继承了对视觉外观的强大鲁棒性。我们在一系列问题上展示了 FlowControl，包括需要非常精确的运动的问题，以及需要泛化能力的问题。