Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models
Yixuan Huang,Jialin Yuan,Chanho Kim,Pupul Pradhan,Bryan Chen,Li Fuxin,Tucker Hermans,Yixuan Huang,Jialin Yuan,Chanho Kim,Pupul Pradhan,Bryan Chen,Li Fuxin,Tucker Hermans
Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and planning framework. We propose DOOM and LOOM, which leverage transformer relational dynamics to encode the history of trajectories given partial-view point clouds ...
