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title
description
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updated
2025-12-12 06:28:07
raw text
Robotic Task Generalization via Hindsight Trajectory Sketches RT-Trajectory : Robotic Task Generalization via Hindsight Trajectory Sketches Jiayuan Gu 1,2 , Sean Kirmani 1 , Paul Wohlhart 1 , Yao Lu 1 , Montserrat Gonzalez Arenas 1 , Kanishka Rao 1 , Wenhao Yu 1 , Chuyuan Fu 1 , Keerthana Gopalakrishnan 1 , Zhuo Xu 1 , Priya Sundaresan 3,4 , Peng Xu 1 , Hao Su 2 , Karol Hausman 1 , Chelsea Finn 1,3 , Quan Vuong 1 , Ted Xiao 1 1 Google DeepMind , 2 University of California San Diego 3 Stanford University 4 Intrinsic ICLR 2024 (Spotlight) arXiv Blog RT-1 vs. RT-Trajectory RT-Trajectory can take trajectory sketches generated from different methods as input. Language-conditioned policies like RT-1 struggle to generalize to new scenarios that require extrapolation of language specifications. To this end, we propose RT-Trajectory , a robotic control policy conditioned on t...
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