CLAMP pretrains 3D multi-view encoders with contrastive learning on point clouds and actions, then initializes diffusion policies for more sample-efficient fine-tuning on robotic tasks.
Pri3d: Can 3d priors help 2d representation learning? InProceedings of the IEEE/CVF International Conference on Computer Vision, pages 5693–5702
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CLAMP: Contrastive Learning for 3D Multi-View Action-Conditioned Robotic Manipulation Pretraining
CLAMP pretrains 3D multi-view encoders with contrastive learning on point clouds and actions, then initializes diffusion policies for more sample-efficient fine-tuning on robotic tasks.