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Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks.
V-rep: A versatile and scalable robot simulation framework
Eric Rohmer, Surya PN Singh, and Marc Freese · 2013
Earlier work this paper cites.
Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
Earlier work this paper cites.
Unsupervised learning of visual representations by solving jigsaw puzzles
Mehdi Noroozi and Paolo Favaro · 2016
Earlier work this paper cites.
Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, and Michael Wray · 2018
Earlier work this paper cites.
Large batch optimization for deep learning: Training bert in 76 minutes
Yang You, Jing Li, Sashank Reddi, Jonathan Hseu, Sanjiv Kumar, Srinadh Bhojanapalli, Xiaodan Song, James Demmel, Kurt Keutzer, and Cho-Jui Hsieh · 2019
Earlier work this paper cites.
Unsupervised learning of visual features by contrasting cluster assignments
Mathilde Caron, Ishan Misra, Julien Mairal, Priya Goyal, Piotr Bojanowski, and Armand Joulin · 2020
Earlier work this paper cites.
A simple framework for contrastive learning of visual representations
Ting Chen, Simon Kornblith, Mohammad Norouzi, and Geoffrey Hinton · 2020
Earlier work this paper cites.
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
Earlier work this paper cites.
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
Earlier work this paper cites.
Momentum contrast for unsupervised visual representation learning
Kaiming He, Haoqi Fan, Yuxin Wu, Saining Xie, and Ross Girshick · 2020
Earlier work this paper cites.
Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
Earlier work this paper cites.
Understanding human hands in contact at internet scale
Dandan Shan, Jiaqi Geng, Michelle Shu, and David Fouhey · 2020
Earlier work this paper cites.
Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
Earlier work this paper cites.
3d-front: 3d furnished rooms with layouts and semantics
Huan Fu, Bowen Cai, Lin Gao, Ling-Xiao Zhang, Jiaming Wang, Cao Li, Qixun Zeng, Chengyue Sun, Rongfei Jia, Binqiang Zhao, et al · 2021
Earlier work this paper cites.
Perceiver io: A general architecture for structured inputs & outputs
Andrew Jaegle, Sebastian Borgeaud, Jean-Baptiste Alayrac, Carl Doersch, Catalin Ionescu, David Ding, Skanda Koppula, Daniel Zoran, Andrew Brock, Evan Shelhamer, et al · 2021
Earlier work this paper cites.
Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh K Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
Cited alongside, same era.
ibot: Image bert pre-training with online tokenizer
Jinghao Zhou, Chen Wei, Huiyu Wang, Wei Shen, Cihang Xie, Alan Yuille, and Tao Kong · 2021
Cited alongside, same era.
Masked siamese networks for label-efficient learning
Mahmoud Assran, Mathilde Caron, Ishan Misra, Piotr Bojanowski, Florian Bordes, Pascal Vincent, Armand Joulin, Mike Rabbat, and Nicolas Ballas · 2022
Cited alongside, same era.
Multimae: Multi-modal multi-task masked autoencoders
Roman Bachmann, David Mizrahi, Andrei Atanov, and Amir Zamir · 2022
Cited alongside, same era.
Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
Later among the works it cites.
Self-supervised learning from images with a joint-embedding predictive architecture
Mahmoud Assran, Quentin Duval, Ishan Misra, Piotr Bojanowski, Pascal Vincent, Michael Rabbat, Yann LeCun, and Nicolas Ballas · 2023
Later among the works it cites.
An unbiased look at datasets for visuo-motor pre-training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, and Abhinav Gupta · 2023
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Objaverse: A universe of annotated 3d objects
Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, and Ali Farhadi · 2023
Later among the works it cites.
Act3d: Infinite resolution action detection transformer for robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
Cited alongside, same era.
Masked autoencoders as spatiotemporal learners
Christoph Feichtenhofer, Yanghao Li, Kaiming He, et al · 2022
Cited alongside, same era.
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
Cited alongside, same era.
Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
Cited alongside, same era.
Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
Stephen James, Kentaro Wada, Tristan Laidlow, and Andrew J Davison · 2022
Cited alongside, same era.
Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
Cited alongside, same era.
Instruction-following agents with jointly pre-trained vision-language models
Hao Liu, Lisa Lee, Kimin Lee, and Pieter Abbeel · 2022
Cited alongside, same era.
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
Cited alongside, same era.
Later among the works it cites.
Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
Later among the works it cites.
Instruction-driven history-aware policies for robotic manipulations
Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, and Cordelia Schmid · 2023
Later among the works it cites.
Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2023
Later among the works it cites.
Multi-view masked world models for visual robotic manipulation
Younggyo Seo, Junsu Kim, Stephen James, Kimin Lee, Jinwoo Shin, and Pieter Abbeel · 2023
Later among the works it cites.
Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
Later among the works it cites.
Shelving, stacking, hanging: Relational pose diffusion for multi-modal rearrangement
Anthony Simeonov, Ankit Goyal, Lucas Manuelli, Lin Yen-Chen, Alina Sarmiento, Alberto Rodriguez, Pulkit Agrawal, and Dieter Fox · 2023
Later among the works it cites.
Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, and Xiaolong Wang · 2023
Later among the works it cites.
Objaverse-xl: A universe of 10m+ 3d objects
Matt Deitke, Ruoshi Liu, Matthew Wallingford, Huong Ngo, Oscar Michel, Aditya Kusupati, Alan Fan, Christian Laforte, Vikram Voleti, Samir Yitzhak Gadre, et al · 2024
Closest in time.
Where are we in the search for an artificial visual cortex for embodied intelligence?
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Tingfan Wu, Jay Vakil, et al · 2024
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The colosseum: A benchmark for evaluating generalization for robotic manipulation
Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, and Dieter Fox · 2024
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