Publication

Object-centric Forward Modeling for Model Predictive Control

Conference on Robot Learning (CoRL)


Abstract

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit spatial location and implicit visual feature, and learn to model the effects of actions using random interaction data. Our model allows capturing the robot-object and object-object interactions, and leads to more sample-efficient and accurate predictions. We show that this learned model can be leveraged to search for action sequences that lead to desired goal configurations, and that in conjunction with a learned correction module, this allows for robust closed loop execution. We present experiments both in simulation and the real world, and show that our approach improves over alternate implicit or pixel-space forward models. Please see our project page for result videos.

Related Publications

All Publications

A Scalable Approach to Control Diverse Behaviors for Physically Simulated Characters

Jungdam Won, Deepak Gopinath, Jessica Hodgins

ACM SIGGRAPH - July 19, 2020

ARCH: Animatable Reconstruction of Clothed Humans

Zeng Huang, Yuanlu Xu, Christoph Lassner, Hao Li, Tony Tung

CVPR - June 15, 2020

In Defense of Grid Features for Visual Question Answering

Huaizu Jiang, Ishan Misra, Marcus Rohrbach, Erik Learned-Miller, Xinlei Chen

CVPR - June 14, 2020

Hierarchical Scene Coordinate Classification and Regression for Visual Localization

Xiaotian Li, Shuzhe Wang, Yi Zhao, Jakob Verbeek, Juho Kannala

CVPR - June 13, 2020

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookies Policy