Model-Based Visual Planning with Self-Supervised Functional Distances

Stephen Tian, Suraj Nair, Frederik Ebert, Sudeep Dasari, Benjamin Eysenbach, Chelsea Finn, Sergey Levine

Abstract: A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies...