A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation

Recommended to me by Krish Mehta.

Project page:

• https://toyotaresearchinstitute.github.io/lbm1/

They look at different scaling laws for robotics.

• Uses a Diffusion Transformer

Takeaways:

• Robotics is extremely noisy, in this paper, they use statistical rigor to get conclusive results
• Some talks on normalization