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CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning
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CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning CACTI : A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning Zhao Mandi 1,2 , Homanga Bharadhwaj 2,3 , Vincent Moens 2 , Shuran Song 1 , Aravind Rajeswaran 2 , Vikash Kumar 2 , 1 Columbia University, 2 Meta AI, 3 Carnegie Mellon University Paper Abstract Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop robots that can perform a wide range of skills and adapt to new scenarios, efficient methods for collecting vast and diverse amounts of data on physical robot systems are required, as well as the capability to train high-capacity policies using such datasets. In this work, we propose a framework for scaling robot learning, with spec...
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