notesum.ai

Published at October 29

Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Dataset

cs.CR

cs.AI

Released Date: October 29, 2024

Authors: Guangqi Jiang¹, Yifei Sun², Tao Huang³, Huanyu Li³, Yongyuan Liang⁴, Huazhe Xu⁵

Aff.: ¹University of California, San Diego; ²Tongji University; ³Shanghai Jiao Tong University; ⁴University of Maryland, College Park; ⁵Tsinghua University

Arxiv: https://arxiv.org/abs/2410.22325v1

Task	LfS	MVP	VC-1	R3M	MCR
Lift	$\nicefrac{{5}}{{10}}$	$\nicefrac{{6}}{{10}}$	$\nicefrac{{5}}{{10}}$	$\nicefrac{{6}}{{10}}$	$\nicefrac{{9}}{{10}}$
Sweep	$\nicefrac{{3}}{{10}}$	$\nicefrac{{1}}{{10}}$	$\nicefrac{{2}}{{10}}$	$\nicefrac{{1}}{{10}}$	$\nicefrac{{7}}{{10}}$
Rearrange	$\nicefrac{{2}}{{10}}$	$\nicefrac{{3}}{{10}}$	$\nicefrac{{6}}{{10}}$	$\nicefrac{{4}}{{10}}$	$\nicefrac{{7}}{{10}}$
All	$\nicefrac{{10}}{{30}}$	$\nicefrac{{10}}{{30}}$	$\nicefrac{{13}}{{30}}$	$\nicefrac{{11}}{{30}}$	$\nicefrac{{23}}{{30}}$