In Scenario 1, we evaluate the methods randomizing the initial positions of objects and the gripper. We showcase successful trajectories collected by our method and compare them to unsuccessful ones collected by other methods. For success rates, see the quantitative results section below. Left: V-PTR (ours). Right: (clockwise, from top left) PTR (Kumar et al. 2023), VIP (Ma et al. 2022), R3M (Nair et al. 2022), masked visual pre-training (Xiao et al. 2022)
We introduce various distractors to test whether the robot is able to identify the correct object to pick up. The order of videos is the same as before.
We introduce various distractors to test whether the robot is able to identify the correct object to pick up. The order of videos is the same as before.