Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets

DexArt MCR (ours) R3M R3M-DROID MVP VC-1 HRP Figure 2 : Correlation between manipulation centricity and downstream performance. Our findings reveal that (1) the proposed metric of manipulation centricity strongly correlates with the downstream performance of robotic representations, and (2) using the robot dataset DROID yields greater benefits for robotic representations than human datasets. (3) These insights motivate our method, MCR, which leverages dynamics labels from the robot dataset to further enhance manipulation centricity and downstream performance.