Grounding Bodily Awareness in Visual Representations for Efficient Policy Learning

24 May 2025

Papers citing "Grounding Bodily Awareness in Visual Representations for Efficient Policy Learning"

41 / 41 papers shown

Title
In-Context Imitation Learning via Next-Token Prediction Letian Fu Huang Huang Gaurav Datta Lawrence Yunliang Chen William Chung-Ho Panitch Fangchen Liu Hui Li Ken Goldberg LM&Ro 76 23 0 28 Aug 2024
SAM 2: Segment Anything in Images and Videos Nikhila Ravi Valentin Gabeur Yuan-Ting Hu Ronghang Hu Chaitanya K. Ryali ... Nicolas Carion Chao-Yuan Wu Ross B. Girshick Piotr Dollár Christoph Feichtenhofer VLM MLLM 150 922 0 01 Aug 2024
DEAR: Disentangled Environment and Agent Representations for Reinforcement Learning without Reconstruction Ameya Pore Riccardo Muradore Diego DallÁlba DRL 89 2 0 30 Jun 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 102 80 0 05 Mar 2024
Efficient RL via Disentangled Environment and Agent Representations Kevin Gmelin Shikhar Bahl Russell Mendonca Deepak Pathak DRL 62 9 0 05 Sep 2023
XSkill: Cross Embodiment Skill Discovery Mengda Xu Zhenjia Xu Cheng Chi Manuela Veloso Shuran Song 97 74 0 19 Jul 2023
Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning Xiang Li Varun Belagali Jinghuan Shang Michael S. Ryoo 77 33 0 04 Jul 2023
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware Tony Zhao Vikash Kumar Sergey Levine Chelsea Finn 105 636 0 23 Apr 2023
Segment Anything A. Kirillov Eric Mintun Nikhila Ravi Hanzi Mao Chloe Rolland ... Spencer Whitehead Alexander C. Berg Wan-Yen Lo Piotr Dollár Ross B. Girshick MLLM VLM 371 7,381 0 05 Apr 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,231 0 07 Mar 2023
Language-Driven Representation Learning for Robotics Siddharth Karamcheti Suraj Nair Annie S. Chen Thomas Kollar Chelsea Finn Dorsa Sadigh Percy Liang LM&Ro SSL 105 156 0 24 Feb 2023
Real-World Robot Learning with Masked Visual Pre-training Ilija Radosavovic Tete Xiao Stephen James Pieter Abbeel Jitendra Malik Trevor Darrell SSL 232 253 0 06 Oct 2022
Behavior Transformers: Cloning $k$ modes with one stone Nur Muhammad (Mahi) Shafiullah Zichen Jeff Cui Ariuntuya Altanzaya Lerrel Pinto OffRL 67 238 0 22 Jun 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 101 587 0 23 Mar 2022
ContrastMask: Contrastive Learning to Segment Every Thing Xuehui Wang Kai Zhao Ruixin Zhang Shouhong Ding Yan Wang Wei Shen ISeg 89 37 0 18 Mar 2022
Masked Visual Pre-training for Motor Control Tete Xiao Ilija Radosavovic Trevor Darrell Jitendra Malik SSL 107 250 0 11 Mar 2022
Deep ViT Features as Dense Visual Descriptors Shirzad Amir Yossi Gandelsman Shai Bagon Tali Dekel MDE ViT 117 290 0 10 Dec 2021
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 289 519 0 06 Aug 2021
Mastering Visual Continuous Control: Improved Data-Augmented Reinforcement Learning Denis Yarats Rob Fergus A. Lazaric Lerrel Pinto OffRL 106 350 0 20 Jul 2021
Emerging Properties in Self-Supervised Vision Transformers Mathilde Caron Hugo Touvron Ishan Misra Hervé Jégou Julien Mairal Piotr Bojanowski Armand Joulin 724 6,127 0 29 Apr 2021
Learning Transferable Visual Models From Natural Language Supervision Alec Radford Jong Wook Kim Chris Hallacy Aditya A. Ramesh Gabriel Goh ... Amanda Askell Pamela Mishkin Jack Clark Gretchen Krueger Ilya Sutskever CLIP VLM 975 29,871 0 26 Feb 2021
Transformers for One-Shot Visual Imitation Sudeep Dasari Abhinav Gupta LM&Ro 88 94 0 11 Nov 2020
An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale Alexey Dosovitskiy Lucas Beyer Alexander Kolesnikov Dirk Weissenborn Xiaohua Zhai ... Matthias Minderer G. Heigold Sylvain Gelly Jakob Uszkoreit N. Houlsby ViT 673 41,430 0 22 Oct 2020
Masked Contrastive Representation Learning for Reinforcement Learning Jinhua Zhu Yingce Xia Lijun Wu Jiajun Deng Wen-gang Zhou Tao Qin Houqiang Li SSL OffRL 103 60 0 15 Oct 2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning Yuke Zhu J. Wong Ajay Mandlekar Roberto Martín-Martín Abhishek Joshi Soroush Nasiriany Yifeng Zhu Soroush Nasiriany Yifeng Zhu 177 445 0 25 Sep 2020
Denoising Diffusion Probabilistic Models Jonathan Ho Ajay Jain Pieter Abbeel DiffM 718 18,310 0 19 Jun 2020
Image Augmentation Is All You Need: Regularizing Deep Reinforcement Learning from Pixels Ilya Kostrikov Denis Yarats Rob Fergus OffRL 112 793 0 28 Apr 2020
CURL: Contrastive Unsupervised Representations for Reinforcement Learning A. Srinivas Michael Laskin Pieter Abbeel SSL DRL OffRL 100 1,092 0 08 Apr 2020
A Simple Framework for Contrastive Learning of Visual Representations Ting-Li Chen Simon Kornblith Mohammad Norouzi Geoffrey E. Hinton SSL 387 18,866 0 13 Feb 2020
Momentum Contrast for Unsupervised Visual Representation Learning Kaiming He Haoqi Fan Yuxin Wu Saining Xie Ross B. Girshick SSL 213 12,124 0 13 Nov 2019
Improving Sample Efficiency in Model-Free Reinforcement Learning from Images Denis Yarats Amy Zhang Ilya Kostrikov Brandon Amos Joelle Pineau Rob Fergus DRL 106 447 0 02 Oct 2019
RLBench: The Robot Learning Benchmark & Learning Environment Stephen James Z. Ma David Rovick Arrojo Andrew J. Davison SSL VLM OffRL 109 562 0 26 Sep 2019
Representation Learning with Contrastive Predictive Coding Aaron van den Oord Yazhe Li Oriol Vinyals DRL SSL 351 10,364 0 10 Jul 2018
Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors Gabor Soter A. Conn H. Hauser J. Rossiter 49 67 0 15 Oct 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 787 132,454 0 12 Jun 2017
PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space C. Qi L. Yi Hao Su Leonidas Guibas 3DPC 3DV 366 11,142 0 07 Jun 2017
Time-Contrastive Networks: Self-Supervised Learning from Video P. Sermanet Corey Lynch Yevgen Chebotar Jasmine Hsu Eric Jang S. Schaal Sergey Levine SSL 107 830 0 23 Apr 2017
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 2.2K 194,510 0 10 Dec 2015
U-Net: Convolutional Networks for Biomedical Image Segmentation Olaf Ronneberger Philipp Fischer Thomas Brox SSeg 3DV 1.9K 77,378 0 18 May 2015
End-to-End Training of Deep Visuomotor Policies Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 315 3,444 0 02 Apr 2015
FaceNet: A Unified Embedding for Face Recognition and Clustering Florian Schroff Dmitry Kalenichenko James Philbin 3DH 389 13,145 0 12 Mar 2015