Generative Modeling of Environments with Scene Grammars and Variational Inference
Gregory Izatt,Russ Tedrake,Gregory Izatt,Russ Tedrake
In order to understand how a robot will perform in the open world, we aim to establish a quantitative understanding of the distribution of environments that a robot will face when when it is deployed. However, even restricting attention only to the distribution of objects in a scene, these distributions over environments are nontrivial: they describe mixtures of discrete and continuous variables r...
