Recent years have seen the emergence of pre-trained representations as a powerful abstraction for AI applications in computer vision, natural language, and speech. However, policy learning for control is still dominated by a tabula-rasa learning paradigm, with visuo-motor policies often trained from scratch using data from deployment environments. In this context, we revisit and study the role of pre-trained visual representations for control, and in particular representations trained on large-scale computer vision datasets. Through extensive empirical evaluation in diverse control domains (Habitat, DeepMind Control, Adroit, Franka Kitchen), we isolate and study the importance of different representation training methods, data augmentations, and feature hierarchies. Overall, we find that pre-trained visual representations can be competitive or even better than ground-truth state representations to train control policies. This is in spite of using only out-of-domain data from standard vision datasets, without any in-domain data from the deployment environments. Additional details and source code is available at https://sites.google.com/view/pvr-control

研究表明，预训练的视觉表示方法对于控制任务的学习同样有效，甚至在某些情况下可以优于基于真实状态的表示方法，而这些预训练模型仅需要使用标准视觉数据集，而不需要在目标环境中使用真实数据。

预训练视觉模型对控制的有效性不足为奇