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Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks.
State representation learning in robotics: Using prior knowledge about physical interaction
Rico Jonschkowski and Oliver Brock · 2014
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Visualizing and understanding convolutional networks
Matthew D Zeiler and Rob Fergus · 2014
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Jimmy Lei Ba, Jamie Ryan Kiros, and Geoffrey E Hinton · 2016
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Learning aligned cross-modal representations from weakly aligned data
Lluis Castrejon, Yusuf Aytar, Carl Vondrick, Hamed Pirsiavash, and Antonio Torralba · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Andrei A Rusu, Neil C Rabinowitz, Guillaume Desjardins, Hubert Soyer, James Kirkpatrick, Koray Kavukcuoglu, Razvan Pascanu, and Raia Hadsell · 2016
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Expert gate: Lifelong learning with a network of experts
Rahaf Aljundi, Punarjay Chakravarty, and Tinne Tuytelaars · 2017
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Cross-modal scene networks
Yusuf Aytar, Lluis Castrejon, Carl Vondrick, Hamed Pirsiavash, and Antonio Torralba · 2017
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Modulating early visual processing by language
Harm De Vries, Florian Strub, Jérémie Mary, Hugo Larochelle, Olivier Pietquin, and Aaron C Courville · 2017
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Pves: Position-velocity encoders for unsupervised learning of structured state representations
Rico Jonschkowski, Roland Hafner, Jonathan Scholz, and Martin Riedmiller · 2017
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Encoder based lifelong learning
Amal Rannen, Rahaf Aljundi, Matthew B Blaschko, and Tinne Tuytelaars · 2017
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Learning multiple visual domains with residual adapters
Sylvestre-Alvise Rebuffi, Hakan Bilen, and Andrea Vedaldi · 2017
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Continual learning with deep generative replay
Hanul Shin, Jung Kwon Lee, Jaehong Kim, and Jiwon Kim · 2017
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Lifelong learning with dynamically expandable networks
Jaehong Yoon, Eunho Yang, Jeongtae Lee, and Sung Ju Hwang · 2017
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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2018
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Learning actionable representations from visual observations
Debidatta Dwibedi, Jonathan Tompson, Corey Lynch, and Pierre Sermanet · 2018
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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Progress & compress: A scalable framework for continual learning
Jonathan Schwarz, Wojciech Czarnecki, Jelena Luketina, Agnieszka Grabska-Barwinska, Yee Whye Teh, Razvan Pascanu, and Raia Hadsell · 2018
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Relay policy learning: Solving long horizon tasks via imitation and reinforcement learning
Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, and Karol Hausman · 2019
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Parameter-efficient transfer learning for nlp
Neil Houlsby, Andrei Giurgiu, Stanislaw Jastrzebski, Bruna Morrone, Quentin De Laroussilhe, Andrea Gesmundo, Mona Attariyan, and Sylvain Gelly · 2019
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End-to-end object detection with transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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A simple framework for contrastive learning of visual representations
Ting Chen, Simon Kornblith, Mohammad Norouzi, and Geoffrey Hinton · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 2020
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Bootstrap your own latent-a new approach to self-supervised learning
Jean-Bastien Grill, Florian Strub, Florent Altché, Corentin Tallec, Pierre Richemond, Elena Buchatskaya, Carl Doersch, Bernardo Avila Pires, Zhaohan Guo, Mohammad Gheshlaghi Azar, et al · 2020
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Self-supervised sim-to-real adaptation for visual robotic manipulation
Rae Jeong, Yusuf Aytar, David Khosid, Yuxiang Zhou, Jackie Kay, Thomas Lampe, Konstantinos Bousmalis, and Francesco Nori · 2020
Florence: A new foundation model for computer vision
Lu Yuan, Dongdong Chen, Yi-Ling Chen, Noel Codella, Xiyang Dai, Jianfeng Gao, Houdong Hu, Xuedong Huang, Boxin Li, Chunyuan Li, et al · 2021
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Manipulator-independent representations for visual imitation
Yuxiang Zhou, Yusuf Aytar, and Konstantinos Bousmalis · 2021
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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katie Millican, Malcolm Reynolds, et al · 2022
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Clip on wheels: Zero-shot object navigation as object localization and exploration
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2022
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Image augmentation is all you need: Regularizing deep reinforcement learning from pixels
Ilya Kostrikov, Denis Yarats, and Rob Fergus · 2020
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Learning task-driven control policies via information bottlenecks
Vincent Pacelli and Anirudha Majumdar · 2020
Cited alongside, same era.
A study of residual adapters for multi-domain neural machine translation
Minh Quang Pham, Josep-Maria Crego, François Yvon, and Jean Senellart · 2020
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3d dynamic scene graphs: Actionable spatial perception with places, objects, and humans
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, and Luca Carlone · 2020
Cited alongside, same era.
Learning to see before learning to act: Visual pre-training for manipulation
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, and Tsung-Yi Lin · 2020
Cited alongside, same era.
Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
Cited alongside, same era.
High-performance large-scale image recognition without normalization
Andy Brock, Soham De, Samuel L Smith, and Karen Simonyan · 2021
Cited alongside, same era.
Nicklas Hansen, Zhecheng Yuan, Yanjie Ze, Tongzhou Mu, Aravind Rajeswaran, Hao Su, Huazhe Xu, and Xiaolong Wang · 2022
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Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
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Menglin Jia, Luming Tang, Bor-Chun Chen, Claire Cardie, Serge Belongie, Bharath Hariharan, and Ser-Nam Lim · 2022
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Simple but effective: Clip embeddings for embodied ai
Apoorv Khandelwal, Luca Weihs, Roozbeh Mottaghi, and Aniruddha Kembhavi · 2022
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Cross-domain few-shot learning with task-specific adapters
Wei-Hong Li, Xialei Liu, and Hakan Bilen · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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The unsurprising effectiveness of pre-trained vision models for control
Simone Parisi, Aravind Rajeswaran, Senthil Purushwalkam, and Abhinav Gupta · 2022
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Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2022
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Hierarchical text-conditional image generation with clip latents
Aditya Ramesh, Prafulla Dhariwal, Alex Nichol, Casey Chu, and Mark Chen · 2022
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Photorealistic text-to-image diffusion models with deep language understanding (2022)
Chitwan Saharia, William Chan, Saurabh Saxena, Lala Li, Jay Whang, Emily Denton, Seyed Kamyar Seyed Ghasemipour, Burcu Karagol Ayan, S Sara Mahdavi, Rapha Gontijo Lopes, et al · 2022
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Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Lst: Ladder side-tuning for parameter and memory efficient transfer learning
Yi-Lin Sung, Jaemin Cho, and Mohit Bansal · 2022
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Clipasso: Semantically-aware object sketching, 2022
Yael Vinker, Ehsan Pajouheshgar, Jessica Y. Bo, Roman Christian Bachmann, Amit Haim Bermano, Daniel Cohen-Or, Amir Zamir, and Ariel Shamir · 2022
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Robust fine-tuning of zero-shot models
Mitchell Wortsman, Gabriel Ilharco, Jong Wook Kim, Mike Li, Simon Kornblith, Rebecca Roelofs, Raphael Gontijo Lopes, Hannaneh Hajishirzi, Ali Farhadi, Hongseok Namkoong, et al · 2022
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
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Where are we in the search for an artificial visual cortex for embodied intelligence?
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Pieter Abbeel, Jitendra Malik, et al · 2023
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