Learning to See before Learning to Act: Visual Pre-training for Manipulation
Lin Yen-Chen,Andy Zeng,Shuran Song,Phillip Isola,Tsung-Yi Lin,Lin Yen-Chen,Andy Zeng,Shuran Song,Phillip Isola,Tsung-Yi Lin
Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first trained on a passive vision task (i.e., the data distribution does not depend on the agent’s decisions), then adapted to perform an active manipulation task (i.e., ...
