BriefGPT.xyz
Nov, 2023
预训练视觉表示对稳健操控的成功因素
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
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Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn...
TL;DR
通过对15个预训练视觉模型的性能比较,发现视觉出现分割能力是ViT模型在分布偏移下的强预测因子。在十个任务中进行广泛测试后,分割分数在离线训练和50次演示后预测了真实世界的性能。
Abstract
Inspired by the success of
transfer learning
in computer vision, roboticists have investigated
visual pre-training
as a means to improve the learning efficiency and
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