arxivcs.ROcs.LG2026-07-20
Patch Policy: Efficient Embodied Control via Dense Visual Representations
Gaoyue Zhou, Zichen Jeff Cui, Ada Langford, Bowen Tan, Yann LeCun, Lerrel Pinto
Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in robot learning. Modern robot policies either compress each observation into a single global token, or rely on visual backbones trained from scratch, sacrificing both fine-…