VLARSS 20252025

Octo: An Open-Source Generalist Robot Policy

Dibya Ghosh, Homer Walke, Karl Pertsch, Ilija Radosavovic et al.UC Berkeley

摘要

Octo is an open-source generalist robot policy trained on diverse manipulation datasets. The model demonstrates strong zero-shot transfer to new robots and tasks.

open-sourcegeneralist policyzero-shot transferdiverse datasetsmanipulation

技术细节

数据集

Open X-Embodiment (22 robots21 tasks)

测试机器人

Franka PandaWidowXUR5 SpotALOHA

模型骨架

Transformer (encoder-decoder)

编码器

ViT (visual), T5 (language)

解码器

Diffusion Action Head