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hpt-base
liruiw/hpt-base
hpt-base is a robotics model from liruiw. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for transformers.
Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He
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.pth320 MB · 86%
At a glance
- Task
- Robotics
- Library
- transformers
- Access
- Public
- Created
- Apr 11, 2024
- Updated
- Oct 2, 2024
- SHA
- 4586c8c3
Model card
From the Hugging Face model README
🦾 Heterogenous Pre-trained Transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He
Neural Information Processing Systems (Spotlight), 2024
Paper: https://huggingface.co/papers/2409.20537
You can find more details on our project page. An alternative clean implementation of HPT in Hugging Face can also be found here.
TL;DR: HPT aligns different embodiment to a shared latent space and investigates the scaling behaviors in policy learning. Put a scalable transformer in the middle of your policy and don’t train from scratch!
If you find HPT useful in your research, please consider citing:
@inproceedings{wang2024hpt,
author = {Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He},
title = {Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers},
booktitle = {Neurips},
year = {2024}
}
Contact
If you have any questions, feel free to contact me through email ([email protected]). Enjoy!
- Task
- Robotics
- Library
- transformers
- Created
- Apr 11, 2024
- Updated
- Oct 2, 2024