GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning

Description

Task failures in prior fine-grained robotic manipulation methods often stem from suboptimal initial grasping, which is critical for subsequent manipulation and reducing the requirement for complex pose adjustments. To address this, we propose Grasp-Pretraining Augmentation (GPA), a general multi-modal learning framework that enhances grasp perception without additional grasp pose data collection and labeling. GPA achieves evident enhancement on RLBench multi-task benchmark (from 79.3% to 84.2%)

Source