Seer, a transformer-based PIDM pre-trained on large robotic datasets like DROID, outperforms prior methods on simulation and real-world robotic manipulation benchmarks with gains up to 43%.
Bridgedata v2: A dataset for robot learning at scale
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Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
Seer, a transformer-based PIDM pre-trained on large robotic datasets like DROID, outperforms prior methods on simulation and real-world robotic manipulation benchmarks with gains up to 43%.