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Pre-training on Internet data has proven to be a key ingredient for broad generalization in many modern ML systems.
Residual Algorithms : Reinforcement Learning with Function Approximation
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Policy evaluation with temporal differences: A survey and comparison
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Grad-cam: Visual explanations from deep networks via gradient-based localization. arxiv 2016
RR Selvaraju, M Cogswell, A Das, R Vedantam, D Parikh, and D Batra · 2016
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Hindsight experience replay
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Time-contrastive networks: Self-supervised learning from video
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Group normalization
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Crossnorm: Normalization for off-policy td reinforcement learning
Aditya Bhatt, Max Argus, Artemij Amiranashvili, and Thomas Brox · 2019
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Contextual imagined goals for self-supervised robotic learning
A. Nair, S. Bahl, A. Khazatsky, V. Pong, G. Berseth, and S. Levine · 2019
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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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Conservative q-learning for offline reinforcement learning
Aviral Kumar, Aurick Zhou, George Tucker, and Sergey Levine · 2020
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Reinforcement learning with videos: Combining offline observations with interaction
Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, and Chelsea Finn · 2020
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Cog: Connecting new skills to past experience with offline reinforcement learning
Avi Singh, Albert Yu, Jonathan Yang, Jesse Zhang, Aviral Kumar, and Sergey Levine · 2020
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Curl: Contrastive unsupervised representations for reinforcement learning
A. Srinivas, Michael Laskin, and P. Abbeel · 2020
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Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
Vip: Towards universal visual reward and representation via value-implicit pre-training
Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, and Amy Zhang · 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
Later among the works it cites.
Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
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Reinforcement learning from passive data via latent intentions
Dibya Ghosh, Chethan Bhateja, and Sergey Levine · 2023
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Masked autoencoders are scalable vision learners. arxiv. 2021 doi: 10.48550
K He, X Chen, S Xie, Y Li, P Dollár, and RB Girshick · 2021
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A workflow for offline model-free robotic reinforcement learning
Aviral Kumar, Anikait Singh, Stephen Tian, Chelsea Finn, and Sergey Levine · 2021
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Video pretraining (vpt): Learning to act by watching unlabeled online videos
Bowen Baker, Ilge Akkaya, Peter Zhokhov, Joost Huizinga, Jie Tang, Adrien Ecoffet, Brandon Houghton, Raul Sampedro, and Jeff Clune · 2022
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Learning value functions from undirected state-only experience
Matthew Chang, Arjun Gupta, and Saurabh Gupta · 2022
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Identity mappings in deep residual networks
Kaiming He, X. Zhang, Shaoqing Ren, and Jian Sun
Cited in the paper.
Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun
Cited in the paper.
Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, and Percy Liang · 2023
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Pre-training for robots: Offline rl enables learning new tasks from a handful of trials
Aviral Kumar, Anikait Singh, Frederik Ebert, Yanlai Yang, Chelsea Finn, and Sergey Levine · 2023
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Goal representations for instruction following: A semi-supervised language interface to control
Vivek Myers, Andre He, Kuan Fang, Homer Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca Dragan, and Sergey Levine · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, et al · 2023
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Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2023
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