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cs.RO2025
Learning Real-World Action-Video Dynamics with Heterogeneous Masked Autoregression
Lirui Wang, Kevin Zhao, Chaoqi Liu +1
We propose Heterogeneous Masked Autoregression (HMA) for modeling action-video dynamics to generate high-quality data and evaluation in scaling robot learning. Building interactive…
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…