{"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/visual-foresight-with-a-local-dynamics-model","title":"Visual Foresight With a Local Dynamics Model","arxiv_id":"2206.14802","date":"2022-06-29","proceeding":null,"authors":["Colin Kohler","Robert Platt"],"abstract":"Model-free policy learning has been shown to be capable of learning manipulation policies which can solve long-time horizon tasks using single-step manipulation primitives. However, training these policies is a time-consuming process requiring large amounts of data. We propose the Local Dynamics Model (LDM) which efficiently learns the state-transition function for these manipulation primitives. By combining the LDM with model-free policy learning, we can learn policies which can solve complex manipulation tasks using one-step lookahead planning. We show that the LDM is both more sample-efficient and outperforms other model architectures. When combined with planning, we can outperform other model-based and model-free policies on several challenging manipulation tasks in simulation.","url_abs":"https://arxiv.org/abs/2206.14802v1","url_pdf":"https://arxiv.org/pdf/2206.14802v1.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":"visual-foresight-with-a-local-dynamics-model","repo_url":"https://github.com/colinkohler/localdynamicsmodel","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"model","task_name":"model"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}