2022-02-25 更新
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
Authors:Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint
We present a method to learn compositional predictive models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. A central question in learning dynamic models from sensor observations is on which representations predictions should be performed. NeRFs have become a popular choice for representing scenes due to their strong 3D prior. However, most NeRF approaches are trained on a single scene, representing the whole scene with a global model, making generalization to novel scenes, containing different numbers of objects, challenging. Instead, we present a compositional, object-centric auto-encoder framework that maps multiple views of the scene to a \emph{set} of latent vectors representing each object separately. The latent vectors parameterize individual NeRF models from which the scene can be reconstructed and rendered from novel viewpoints. We train a graph neural network dynamics model in the latent space to achieve compositionality for dynamics prediction. A key feature of our approach is that the learned 3D information of the scene through the NeRF model enables us to incorporate structural priors in learning the dynamics models, making long-term predictions more stable. The model can further be used to synthesize new scenes from individual object observations. For planning, we utilize RRTs in the learned latent space, where we can exploit our model and the implicit object encoder to make sampling the latent space informative and more efficient. In the experiments, we show that the model outperforms several baselines on a pushing task containing many objects. Video: https://dannydriess.github.io/compnerfdyn/
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