PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pre-Training
Rogerio Bonatti,Sai Vemprala,Shuang Ma,Felipe Frujeri,Shuhang Chen,Ashish Kapoor,Rogerio Bonatti,Sai Vemprala,Shuang Ma,Felipe Frujeri,Shuhang Chen,Ashish Kapoor
Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language models, this work introduces a paradigm for pretraining a general purpose representation that can serve as a starting point for multiple tasks on a given robot....
