Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation
Martina Lippi,Petra Poklukar,Michael C. Welle,Anastasiia Varava,Hang Yin,Alessandro Marino,Danica Kragic,Martina Lippi,Petra Poklukar,Michael C. Welle,Anastasiia Varava,Hang Yin,Alessandro Marino,Danica Kragic
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images. We define and implement a Latent Space Roadmap (LSR) which is a graph-based structure that globally captures the latent system dynamics. Our framework consists...
