Deep Affordance Foresight: Planning Through What Can Be Done in the Future
Danfei Xu Ajay Mandlekar Roberto Martín-Martín Yuke Zhu Silvio Savarese Li Fei-Fei Danfei Xu Ajay Mandlekar Roberto Martín-Martín Yuke Zhu Silvio Savarese Li Fei-Fei
Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical notion of affordance is not suitable for long horizon planning because it only informs the robot about the immediate outcome of actions instead of what actions are b...