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Vision and language pre-training for robot navigation and manipulation| title | Vision and language pre-training for robot navigation and manipulation |
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| start_date | 2024/06/04 |
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| schedule | 14h-15h |
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| online | no |
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| location_info | Salle 314 |
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| summary | Pre-training on large-scale datasets has significantly accelerated progress in various domains. However, collecting real robot data for pre-training remains expensive and lacks scalability. In this talk, I will demonstrate how we can leverage large-scale Internet data to enhance robot learning. Specifically, I will first present pre-training for vision-and-language navigation, where we take advantage of in-domain web image-captions and unlabeled 3D houses to improve models’ generalization capabilities in unseen environments. Next, I will delve into pre-training approaches for more complex robot manipulation which requires fine-grained visual perception and precise control. I will introduce a versatile pre-training framework based on web 3D objects to improve visual perception for robots. |
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| responsibles | Vacher, Blusseau |
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Workflow history| from state (1) | to state | comment | date |
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| submitted | published | | 2024/05/30 12:53 UTC |
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