Cover Image

Recasting Generic Pretrained Vision Transformers As Object-Centric Scene Encoders For Manipulation Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Qian, Jianing, Panagopoulos, Anastasios, Jayaraman, Dinesh
Format:	Preprint
Published:	2024
Subjects:	Computer Vision and Pattern Recognition Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Models
by: Shi, Junyao, et al.
Published: (2024)

Can Transformers Capture Spatial Relations between Objects?
by: Wen, Chuan, et al.
Published: (2024)

Object-Centric Instruction Augmentation for Robotic Manipulation
by: Wen, Junjie, et al.
Published: (2024)

Disentangled Object-Centric Image Representation for Robotic Manipulation
by: Emukpere, David, et al.
Published: (2025)

DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation
by: Duisterhof, Bardienus P., et al.
Published: (2023)

FALCON: Future-Aware Learning with Contextual Object-Centric Pretraining for UAV Action Recognition
by: Xian, Ruiqi, et al.
Published: (2024)

Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspective
by: Chung, Nhat, et al.
Published: (2025)

LOC-ZSON: Language-driven Object-Centric Zero-Shot Object Retrieval and Navigation
by: Guan, Tianrui, et al.
Published: (2024)

Zero-shot Reconstruction of In-Scene Object Manipulation from Video
by: Lin, Dixuan, et al.
Published: (2025)

EC-Diffuser: Multi-Object Manipulation via Entity-Centric Behavior Generation
by: Qi, Carl, et al.
Published: (2024)

Object-Centric World Model for Language-Guided Manipulation
by: Jeong, Youngjoon, et al.
Published: (2025)

VLS: Steering Pretrained Robot Policies via Vision-Language Models
by: Liu, Shuo, et al.
Published: (2026)

Object-Centric Action-Enhanced Representations for Robot Visuo-Motor Policy Learning
by: Giannakakis, Nikos, et al.
Published: (2025)

3D-MVP: 3D Multiview Pretraining for Robotic Manipulation
by: Qian, Shengyi, et al.
Published: (2024)

Vision-and-Language Navigation Generative Pretrained Transformer
by: Hanlin, Wen
Published: (2024)

Object-Centric Pretraining via Target Encoder Bootstrapping
by: Đukić, Nikola, et al.
Published: (2025)

Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy
by: Zhang, Tianyi, et al.
Published: (2025)

Entity-Centric Reinforcement Learning for Object Manipulation from Pixels
by: Haramati, Dan, et al.
Published: (2024)

SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecasts
by: Wagner, Royden, et al.
Published: (2024)

ViT-VS: On the Applicability of Pretrained Vision Transformer Features for Generalizable Visual Servoing
by: Scherl, Alessandro, et al.
Published: (2025)

Bridging the Sim2Real Gap: Vision Encoder Pre-Training for Visuomotor Policy Transfer
by: Yardi, Yash, et al.
Published: (2025)

TAG: Target-Agnostic Guidance for Stable Object-Centric Inference in Vision-Language-Action Models
by: Zhou, Jiaying, et al.
Published: (2026)

Improving Zero-Shot ObjectNav with Generative Communication
by: Dorbala, Vishnu Sashank, et al.
Published: (2024)

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos
by: Shi, Junyao, et al.
Published: (2025)

DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulation
by: Xie, Haozhe, et al.
Published: (2026)

Inverse++: Vision-Centric 3D Semantic Occupancy Prediction Assisted with 3D Object Detection
by: Ming, Zhenxing, et al.
Published: (2025)

ManipGPT: Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation?
by: Kim, Taewhan, et al.
Published: (2024)

ArtiBench and ArtiBrain: Benchmarking Generalizable Vision-Language Articulated Object Manipulation
by: Wu, Yuhan, et al.
Published: (2025)

Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
by: Lin, Haitao, et al.
Published: (2026)

3D Feature Distillation with Object-Centric Priors
by: Tziafas, Georgios, et al.
Published: (2024)

DivScene: Towards Open-Vocabulary Object Navigation with Large Vision Language Models in Diverse Scenes
by: Wang, Zhaowei, et al.
Published: (2024)

GenFlowRL: Shaping Rewards with Generative Object-Centric Flow in Visual Reinforcement Learning
by: Yu, Kelin, et al.
Published: (2025)

FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
by: Tang, Chao, et al.
Published: (2025)

Robotic Programmer: Video Instructed Policy Code Generation for Robotic Manipulation
by: Xie, Senwei, et al.
Published: (2025)

ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation
by: Qian, Jingjing, et al.
Published: (2026)

GMT: Goal-Conditioned Multimodal Transformer for 6-DOF Object Trajectory Synthesis in 3D Scenes
by: Zeng, Huajian, et al.
Published: (2026)

MaskPlanner: Learning-Based Object-Centric Motion Generation from 3D Point Clouds
by: Tiboni, Gabriele, et al.
Published: (2025)

Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy
by: Hou, Zhi, et al.
Published: (2025)

Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
by: Chen, Hongyi, et al.
Published: (2026)

A Survey of Embodied Learning for Object-Centric Robotic Manipulation
by: Zheng, Ying, et al.
Published: (2024)