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 multi-task policy


BAKU: AnEfficientTransformerfor Multi-TaskPolicyLearning

Neural Information Processing Systems

Inthiswork,wepresentBAKU,asimple transformer architecture that enables efficient learning of multi-task robot policies.BAKU builds upon recent advancements in offline imitation learning and meticulously combines observation trunks, action chunking, multi-sensory observations, and action heads tosubstantially improveupon prior work.