{"paper":{"title":"Composing Pre-Trained Object-Centric Representations for Robotics From \"What\" and \"Where\" Foundation Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Dinesh Jayaraman, Jianing Qian, Junyao Shi, Yecheng Jason Ma","submitted_at":"2024-04-20T21:51:15Z","abstract_excerpt":"There have recently been large advances both in pre-training visual representations for robotic control and segmenting unknown category objects in general images. To leverage these for improved robot learning, we propose $\\textbf{POCR}$, a new framework for building pre-trained object-centric representations for robotic control. Building on theories of \"what-where\" representations in psychology and computer vision, we use segmentations from a pre-trained model to stably locate across timesteps, various entities in the scene, capturing \"where\" information. To each such segmented entity, we appl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.13474","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2404.13474/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}