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.
Careful Selection and Thoughtful Discarding: Graph Explicit Pooling Utiliz- ing Discarded Nodes, 2023
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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.