# Real-World Robot Learning with Masked Visual Pre-training

arXiv: https://arxiv.org/abs/2210.03109 · HTML: https://mlsanity.com/paper/2210.03109/

## Key facts

- Cited by 245 papers in the map (data through 14 Oct 2026).
- Builds on 57 of its 66 references that are in the map.
- First posted on arXiv 6 Oct 2022.

## Builds on (most cited first, 30 of 57)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [BEiT: BERT Pre-Training of Image Transformers](https://mlsanity.com/paper/2106.08254/) (2021)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [WaveNet: A Generative Model for Raw Audio](https://mlsanity.com/paper/1609.03499/) (2016)
- [Unsupervised Representation Learning by Predicting Image Rotations](https://mlsanity.com/paper/1803.07728/) (2018)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [VideoMAE: Masked Autoencoders are Data-Efficient Learners for Self-Supervised Video Pre-Training](https://mlsanity.com/paper/2203.12602/) (2022)
- [Colorful Image Colorization](https://mlsanity.com/paper/1603.08511/) (2016)
- [The "something something" video database for learning and evaluating visual common sense](https://mlsanity.com/paper/1706.04261/) (2017)
- [Unsupervised Visual Representation Learning by Context Prediction](https://mlsanity.com/paper/1505.05192/) (2015)
- [Scaling Vision Transformers](https://mlsanity.com/paper/2106.04560/) (2021)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Learning Dexterous In-Hand Manipulation](https://mlsanity.com/paper/1808.00177/) (2018)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Self-Normalizing Neural Networks](https://mlsanity.com/paper/1706.02515/) (2017)
- [Jukebox: A Generative Model for Music](https://mlsanity.com/paper/2005.00341/) (2020)

## Built on by (most cited first, 30 of 245)

- [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://mlsanity.com/paper/2410.07864/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks](https://mlsanity.com/paper/2306.13831/) (2023)
- [GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation](https://mlsanity.com/paper/2410.06158/) (2024)
- [Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations](https://mlsanity.com/paper/2412.14803/) (2024)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Affordances from Human Videos as a Versatile Representation for Robotics](https://mlsanity.com/paper/2304.08488/) (2023)
- [ViNT: A Foundation Model for Visual Navigation](https://mlsanity.com/paper/2306.14846/) (2023)
- [Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?](https://mlsanity.com/paper/2303.18240/) (2023)
- [EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video](https://mlsanity.com/paper/2505.11709/) (2025)
- [Large Language Models as General Pattern Machines](https://mlsanity.com/paper/2307.04721/) (2023)
- [DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control](https://mlsanity.com/paper/2502.05855/) (2025)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model](https://mlsanity.com/paper/2503.10631/) (2025)
- [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://mlsanity.com/paper/2410.24221/) (2024)
- [GNM: A General Navigation Model to Drive Any Robot](https://mlsanity.com/paper/2210.03370/) (2022)
- [CroCo v2: Improved Cross-view Completion Pre-training for Stereo Matching and Optical Flow](https://mlsanity.com/paper/2211.10408/) (2022)
- [Language-Driven Representation Learning for Robotics](https://mlsanity.com/paper/2302.12766/) (2023)
- [Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planning](https://mlsanity.com/paper/2311.17842/) (2023)
- [Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation](https://mlsanity.com/paper/2412.15109/) (2024)
- [Open-World Object Manipulation using Pre-trained Vision-Language Models](https://mlsanity.com/paper/2303.00905/) (2023)
- [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://mlsanity.com/paper/2307.04577/) (2023)
- [GenAD: Generalized Predictive Model for Autonomous Driving](https://mlsanity.com/paper/2403.09630/) (2024)
- [Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers](https://mlsanity.com/paper/2409.20537/) (2024)
- [Structured World Models from Human Videos](https://mlsanity.com/paper/2308.10901/) (2023)
- [Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals](https://mlsanity.com/paper/2407.05996/) (2024)
- [THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation](https://mlsanity.com/paper/2402.08191/) (2024)
- [Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model](https://mlsanity.com/paper/2305.11176/) (2023)
- [RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation](https://mlsanity.com/paper/2306.11706/) (2023)

## Abstract (arXiv)

In this work, we explore self-supervised visual pre-training on images from diverse, in-the-wild videos for real-world robotic tasks. Like prior work, our visual representations are pre-trained via a masked autoencoder (MAE), frozen, and then passed into a learnable control module. Unlike prior work, we show that the pre-trained representations are effective across a range of real-world robotic tasks and embodiments. We find that our encoder consistently outperforms CLIP (up to 75%), supervised ImageNet pre-training (up to 81%), and training from scratch (up to 81%). Finally, we train a 307M parameter vision transformer on a massive collection of 4.5M images from the Internet and egocentric videos, and demonstrate clearly the benefits of scaling visual pre-training for robot learning.