2023
PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining
Garrett Thomas, Ching-An Cheng, Ricky Loynd, Felipe Vieira Frujeri, Vibhav Vineet, Mihai Jalobeanu +1
CoRL 2023poster
A rich representation is key to general robotic manipulation, but existing approaches to representation learning require large amounts of multimodal demonstrations. In this work we propose PLEX, a transformer-based architecture that learns from a small amount of task-agnostic visuomotor trajectories…