{"id":"https://openalex.org/W4401417423","doi":"https://doi.org/10.1109/icra57147.2024.10610356","title":"SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Network","display_name":"SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Network","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417423","doi":"https://doi.org/10.1109/icra57147.2024.10610356"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103268171","display_name":"Xingyu Lin","orcid":"https://orcid.org/0000-0002-4500-5636"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingyu Lin","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110615610","display_name":"John So","orcid":null},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John So","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114065729","display_name":"Sashwat Mahalingam","orcid":null},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sashwat Mahalingam","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075643825","display_name":"Fangchen Liu","orcid":"https://orcid.org/0000-0002-8987-6396"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fangchen Liu","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4781","last_page":"4787"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11184","display_name":"Neonatal and fetal brain pathology","score":0.9448999762535095,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11184","display_name":"Neonatal and fetal brain pathology","score":0.9448999762535095,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9189000129699707,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10542","display_name":"Vestibular and auditory disorders","score":0.9140999913215637,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7430229187011719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5173322558403015},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43434274196624756},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35644644498825073}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7430229187011719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5173322558403015},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43434274196624756},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35644644498825073}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W398859631","https://openalex.org/W569478347","https://openalex.org/W2736601468","https://openalex.org/W3023742835","https://openalex.org/W3035060554","https://openalex.org/W3035524453","https://openalex.org/W3080427797","https://openalex.org/W3153675281","https://openalex.org/W3159481202","https://openalex.org/W3205786327","https://openalex.org/W3211462570","https://openalex.org/W3213974477","https://openalex.org/W4306820534","https://openalex.org/W4311430085","https://openalex.org/W4313156423","https://openalex.org/W4319988532","https://openalex.org/W4321319299","https://openalex.org/W4366208220","https://openalex.org/W4383108731","https://openalex.org/W4385403849","https://openalex.org/W4385430538","https://openalex.org/W4385430679","https://openalex.org/W4385431288","https://openalex.org/W6640174482","https://openalex.org/W6741002519","https://openalex.org/W6749916090","https://openalex.org/W6759579507","https://openalex.org/W6774314701","https://openalex.org/W6779326418","https://openalex.org/W6784333009","https://openalex.org/W6796581206","https://openalex.org/W6796613488","https://openalex.org/W6800004206","https://openalex.org/W6810080435","https://openalex.org/W6810536332","https://openalex.org/W6811470611","https://openalex.org/W6838393215","https://openalex.org/W6843515625","https://openalex.org/W6845226490","https://openalex.org/W6845793730","https://openalex.org/W6846007759","https://openalex.org/W6847122809","https://openalex.org/W6849896277","https://openalex.org/W6849942765","https://openalex.org/W6851800889","https://openalex.org/W6852027560"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"The":[0],"existing":[1],"internet-scale":[2],"image":[3],"and":[4,14,45,92,119,138],"video":[5],"datasets":[6],"cover":[7],"a":[8,61,84,96,108,113],"wide":[9],"range":[10],"of":[11,19,41,64,68],"everyday":[12],"objects":[13],"tasks,":[15],"bringing":[16],"the":[17,38,42,46,65,69,74,79],"potential":[18],"learning":[20,91,134],"policies":[21,44],"that":[22,100],"generalize":[23],"in":[24,82,132],"diverse":[25],"scenarios.":[26],"Prior":[27],"works":[28],"have":[29],"explored":[30],"visual":[31,71,87],"pre-training":[32],"with":[33],"different":[34],"self-supervised":[35],"objectives.":[36],"Still,":[37],"generalization":[39,66,127],"capabilities":[40,67],"learned":[43],"advantages":[47],"over":[48],"well-tuned":[49],"baselines":[50],"remain":[51],"unclear":[52],"from":[53],"prior":[54,130],"studies.":[55],"In":[56],"this":[57],"work,":[58],"we":[59,122],"present":[60],"focused":[62],"study":[63],"pre-trained":[70,86,104],"representations":[72,106],"at":[73],"categorical":[75,126],"level.":[76],"We":[77],"identify":[78],"key":[80],"bottleneck":[81],"using":[83],"frozen":[85],"backbone":[88],"for":[89],"policy":[90],"then":[93],"propose":[94],"SpawnNet,":[95],"novel":[97],"two-stream":[98],"architecture":[99],"learns":[101],"to":[102,111,129],"fuse":[103],"multi-layer":[105],"into":[107],"separate":[109],"network":[110],"learn":[112],"robust":[114],"policy.":[115],"Through":[116],"extensive":[117],"simulated":[118],"real":[120],"experiments,":[121],"show":[123],"significantly":[124],"better":[125],"compared":[128],"approaches":[131],"imitation":[133],"settings.":[135],"Open-sourced":[136],"code":[137],"videos":[139],"can":[140],"be":[141],"found":[142],"on":[143],"our":[144],"website:":[145],"https://xingyu-lin.github.io/spawnnet/.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
