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Imagine robots learning new skills—without any robot data. Today, we're excited to release EgoZero: our first steps in training robot policies that operate in unseen environments, solely from data collected through humans wearing Aria smart glasses. 🧵👇

Lerrel Pinto

9,977 subscribers

42,673 просмотров • 1 год назад •via X (Twitter)

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Комментарии: 11

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

EgoZero trains on in-the-wild egocentric data (~20 minutes of human FPV data). In all experiments, we collect no data from our test-time environment to emphasize the zero-shot capability of our models.

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

The key technical idea in EgoZero is to represent the scene as 3D points. This allows for: (a) Easy transfer of latent representation from human to robot. (b) Larger spatial (translation & rotation) generalization as we can easily data-augment for this.

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

An immediate byproduct of EgoZero’s 3D point-based policies is that the robot performance is fairly robust to camera viewpoints.

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

EgoZero builds on top of the Point Policy architecture from @haldar_siddhant -- these point representations are a game changer. Our work is also inspired by excellent work on co-training egocentric data and robot teleop data from @danfei_xu and @xiaolonw among others.

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

We still have several open challenges here that we are actively working on: (a) Addressing errors caused by human to robot correspondences. (b) Improving pose tracking without relying on stationary keypoints for SfM. (c) Improving upon the 1-2cm error in hand pose estimation.

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

For more details, paper and videos, check out our website: This work was led by @vincentjliu @AdemiAdeniji & @haotianz_David and a wonderful collaboration with @Raunaqmb & @pabbeel

Фото профиля Lerrel Pinto

Lerrel Pinto1 год назад

@AdemiAdeniji @haotianz_David @Raunaqmb @pabbeel Here is the website without the typo:

Фото профиля NICE

NICE1 год назад

Stay competitive by balancing cutting-edge AI with automation tools. Forrester shows how.

Фото профиля Aman Goyal

Aman Goyal1 год назад

Looks really exciting. Looking forward to your next paper.

Фото профиля Fadi "Ali"

Fadi "Ali"1 год назад

EgoZero's a real "future-tech" step! Robots training with human data is sci-fi gold. Here's to reshaping our tech landscape and pushing boundaries. 🚀

Фото профиля cookies (🍪,🍪) | 饼妹

cookies (🍪,🍪) | 饼妹1 год назад

Will the new skills learnt only be applicable to certain use cases, instead of catering to general scenarios?

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Figure

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