Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Hongtao Wu,Jikai Ye,Xin Meng,Chris Paxton,Gregory S. Chirikjian,Hongtao Wu,Jikai Ye,Xin Meng,Chris Paxton,Gregory S. Chirikjian
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement manipulation which is able to learn efficiently. In addition, we develop a multi-modal action proposal module which builds on the Goal-Conditioned Transporter N...
