Kyle Hatch

Grateful for the fantastic collaboration with @ashwinb96 @oier_mees @SurajNair_1 @seohong_park @wulfebw @MashaItkina @ben_eysenbach @svlevine @tkollar @Ben_Burchfiel Paper: arxiv.org/abs/2410.20018 Website: ghil-glue.github.io

We study the interplay between image/video foundation models and low-level robot control policies, and present GHIL-Glue, a simple method for aligning image/video foundation models and low-level policies for robotic control.

Image/video models can transfer knowledge from Internet data to robot agents by generating goal images. But what happens when images have harmful visual artifacts? We present GHIL-Glue, a method to align image/video models and low-level policies. ghil-glue.github.io