H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions
Kei Ota,Hsiao-Yu Tung,Kevin A. Smith,Anoop Cherian,Tim K. Marks,Alan Sullivan,Asako Kanezaki,Joshua B. Tenenbaum,Kei Ota,Hsiao-Yu Tung,Kevin A. Smith,Anoop Cherian,Tim K. Marks,Alan Sullivan,Asako Kanezaki,Joshua B. Tenenbaum
The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then pulling if that doesn't work. We enable these capabilities in autonomous agents by proposing “Hypothesize, Simulate, Act, Update, and Repeat” (H-SAUR), a probabil...
