{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/latent-space-roadmap-for-visual-action","title":"Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation","arxiv_id":"2003.08974","date":"2020-03-19","proceeding":null,"authors":["Martina Lippi","Petra Poklukar","Michael C. Welle","Anastasiia Varava","Hang Yin","Alessandro Marino","Danica Kragic"],"abstract":"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 of two main components: a Visual Foresight Module (VFM) that generates a visual plan as a sequence of images, and an Action Proposal Network (APN) that predicts the actions between them. We show the effectiveness of the method on a simulated box stacking task as well as a T-shirt folding task performed with a real robot.","url_abs":"https://arxiv.org/abs/2003.08974v1","url_pdf":"https://arxiv.org/pdf/2003.08974v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"latent-space-roadmap-for-visual-action","repo_url":"https://github.com/visual-action-planning/lsr-code","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2003.08974","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}