ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation. (arXiv:2203.06856v3 [cs.CV] UPDATED)

Manipulating volumetric deformable objects in the real world, like plush toys
and pizza dough, bring substantial challenges due to infinite shape variations,
non-rigid motions, and partial observability. We introduce ACID, an
action-conditional visual dynamics model for volumetric deformable objects
based on structured implicit neural representations. ACID integrates two new
techniques: implicit representations for action-conditional dynamics and
geodesics-based contrastive learning. To represent deformable dynamics from
partial RGB-D observations, we learn implicit representations of occupancy and
flow-based forward dynamics. To accurately identify …

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