Learning to see before learning to act: Visual pre-training for manipulation

ICRA, pp. 7286-7293, 2021.

Cited by: 8|Views81
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Abstract:

Does having visual priors (eg the ability to detect objects) facilitate learning to perform vision-based manipulation (eg picking up objects)? We study this problem under the framework of transfer learning, where the model is first trained on a passive vision task, and adapted to perform an active manipulation task. We find that pre-train...More

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