MSDP pre-trains a transformer encoder with masked multisensory autoencoding, then uses an asymmetric actor-critic bridge (cross-attention for critic, pooling for actor) to accelerate and robustify contact-rich RL across simulation and real robots.
Audio-Visual In- stance Discrimination with Cross-Modal Agreement
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Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
MSDP pre-trains a transformer encoder with masked multisensory autoencoding, then uses an asymmetric actor-critic bridge (cross-attention for critic, pooling for actor) to accelerate and robustify contact-rich RL across simulation and real robots.