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How can we use language supervision to learn better visual representations for robotics?

Introducing Voltron: Language-Driven Representation Learning for Robotics!

Paper: https://t.co/gIsRPtSjKz
Models: https://t.co/NOB3cpATYG
Evaluation: https://t.co/aOzQu95J8z

🧵👇(1 / 12)


Videos of humans performing everyday tasks (Something-Something-v2, Ego4D) offer a rich and diverse resource for learning representations for robotic manipulation.

Yet, an underused part of these datasets are the rich, natural language annotations accompanying each video. (2/12)

The Voltron framework offers a simple way to use language supervision to shape representation learning, building off of prior work in representations for robotics like MVP (
https://t.co/Pb0mk9hb4i) and R3M (https://t.co/o2Fkc3fP0e).

The secret is *balance* (3/12)

Starting with a masked autoencoder over frames from these video clips, make a choice:

1) Condition on language and improve our ability to reconstruct the scene.

2) Generate language given the visual representation and improve our ability to describe what's happening. (4/12)

By trading off *conditioning* and *generation* we show that we can learn 1) better representations than prior methods, and 2) explicitly shape the balance of low and high-level features captured.

Why is the ability to shape this balance important? (5/12)

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The full story of || Dhruv ||

We’ll see How Dhruv occupied a fixed position in the northern sky?

I repeat “Untold Unsung now Unearthed”

Go through entire thread carefully.

OM NAMO BHAGWATE VAASUDEVAAY

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.... continuing from previous thread/story

O prince! Thus concentrate on that omnipotent eternal Lord with the mantra - ‘OM NAMO BHAGWATE VAASUDEVAAY’ .

https://t.co/H62ehDT3ix


The prince Dhruv greeted the sages and continued on his journey. At last, he reached a beautiful forest Madhuvan on the bank of the river Yamuna. It was the same forest, which was later occupied by a demon Madhu.


Shatrughana, the youngest brother of Sri Rama had killed demon Lavan, son of Madhu in the same forest & founded the township of Mathura. In the same forest, prince Dhruv decided to carry out his penance. As per the dictate of the sages, he began to recite the mantra continuously


Very soon, the earth began to move because of Dhruv’s severe penance. Even the seat of Indra could not remain stable. A stampede resulted among the gods. The gods then hatched a conspiracy to disturb the penance.