Energy-based Models as Zero-Shot Planners for Compositional Scene Rearrangement

Nikolaos Gkanatsios*, Ayush Jain*, Zhou Xian, Yunchu Zhang, Christopher A. Atketson, Katerina Fragkiadaki (* Equal Contribution)
October 2022
PDF Code Project
Type
Preprint
Publication
RSS 2023n
We propose a model that maps spatial rearrangement instructions to goal scene configurations via gradient descent on a set of relational energy functions