@conference{
	11580_91478,
	author = {Lippi, M. and Poklukar, P. and Welle, M. C. and Varava, A. and Yin, H. and Marino, A. and Kragic, D.},
	title = {Latent space roadmap for visual action planning of deformable and rigid object manipulation},
	year = {2020},
	booktitle = {International Conference on Intelligent Robots and Systems},
	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 = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9340764},
	doi = {10.1109/IROS45743.2020.9340764},
	isbn = {978-1-7281-6212-6},	
	pages = {5619--5626}
}

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