Gaze-guided foveated patch tokenization reduces ViT tokens by 94%, accelerates training 7x and inference 3x, and improves robustness to distractors in bimanual manipulation policies.
Flow matching imitation learning for multi-support manipulation,
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Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers
Gaze-guided foveated patch tokenization reduces ViT tokens by 94%, accelerates training 7x and inference 3x, and improves robustness to distractors in bimanual manipulation policies.