• Corpus ID: 246823748

Factored World Models for Zero-Shot Generalization in Robotic Manipulation

  title={Factored World Models for Zero-Shot Generalization in Robotic Manipulation},
  author={Ondrej Biza and Thomas Kipf and David Klee and Robert W. Platt and J.-W. van de Meent and Lawson L. S. Wong},
World models for environments with many objects face a combinatorial explosion of states: as the number of objects increases, the number of possible arrangements grows exponentially. In this paper, we learn to generalize over robotic pick-and-place tasks using object-factored world models, which combat the combinatorial explosion by ensuring that predictions are equivariant to permutations of objects. Previous objectfactored models were limited either by their inability to model actions, or by… 

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