2 papers
cs.LG2025
Transformers without Normalization
Jiachen Zhu, Xinlei Chen, Kaiming He +2
Normalization layers are ubiquitous in modern neural networks and have long been considered essential. This work demonstrates that Transformers without normalization can achieve th…
cs.RO2024
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao +1
One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for on…