SIR uses learned sparse scene graphs from images as an intermediate representation to improve robot policy success rates on RoboCasa and enable analysis of model decisions for dataset biases.
Ad- ditionally, we provide fine-grained performance metrics for Table 4
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SIR: Structured Image Representations for Explainable Robot Learning
SIR uses learned sparse scene graphs from images as an intermediate representation to improve robot policy success rates on RoboCasa and enable analysis of model decisions for dataset biases.