2025
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies
ICRA 2025
An end-to-end (E2E) visuomotor policy is typically treated as a unified whole, but recent approaches using out-of-domain (OOD) data to pretrain the visual encoder have cleanly separated the visual encoder from the network, with the remainder referred to as the policy. We propose Visual Alignment Tes