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1. Reconstruction of imagined trajectories in task-relevant and -irrelevant world models
1. Reconstruction of imagined trajectories in task-relevant and -irrelevant world models
(for each video, from top to bottom: raw observation, imagination reconstruction, difference;
from left to right: 6 different trajectories)
a. AD3
a. AD3
Cheetah_Run + NBV
Cheetah_Run + NBV
main_model
distractor_model
Walker_Run + NBV
Walker_Run + NBV
main_model
distractor_model
Finger_Spin + NBV
Finger_Spin + NBV
main_model
distractor_model
Hopper_Hop + NBV
Hopper_Hop + NBV
main_model
distractor_model
Cheetah_Run + AS
Cheetah_Run + AS
main_model
distractor_model
Walker_Run + AS
Walker_Run + AS
main_model
distractor_model
Finger_Spin + AS
Finger_Spin + AS
main_model
distractor_model
Hopper_Hop + AS
Hopper_Hop + AS
main_model
distractor_model
CarRacing + NBV
CarRacing + NBV
main_model
distractor_model
JacoArmReach + NBV
JacoArmReach + NBV
main_model
distractor_model
JacoArmReach + AS
JacoArmReach + AS
main_model
distractor_model
b. TIA
b. TIA
Cheetah_Run + AS
Cheetah_Run + AS
main_model
(totally inversed)
distractor_model
(totally inversed and poor imagination)
Walker_Run + AS
Walker_Run + AS
main_model
(fail to distinguish the distractor)
distractor_model
(fail to distinguish the distractor)
Finger_Spin + AS
Finger_Spin + AS
main_model
(main agent eliminated)
distractor_model
(distractor model containing too much information)
Hopper_Hop + AS
Hopper_Hop + AS
main_model
(poor separation)
distractor_model
(poor separation and distractor model containing too much information)
CarRacing + NBV
CarRacing + NBV
main_model
(fail to distinguish the distractor)
distractor_model
(inversed car)
JacoArmReach + NBV
JacoArmReach + NBV
main_model
(poor separation)
distractor_model
(distractor model containing too much information)
JacoArmReach + AS
JacoArmReach + AS
main_model
distractor_model
c. AD3 (distractor_action_type == a+)
c. AD3 (distractor_action_type == a+)
'Agent Action' in Section 5.3 as well as Figure 3
Cheetah_Run + AS
Cheetah_Run + AS
main_model
(main agent eliminated)
distractor_model
(distractor model containing too much information)
Walker_Run + AS
Walker_Run + AS
main_model
(totally inversed)
distractor_model
(totally inversed and poor separation)
d. AD3 (distractor action type == na)
d. AD3 (distractor action type == na)
'No Action' in Section 5.3 as well as Figure 3
Cheetah_Run + AS
Cheetah_Run + AS
main_model
(fail to distinguish the distractor)
distractor_model
(fail to distinguish the distractor)
Walker_Run + AS
Walker_Run + AS
main_model
(fail to distinguish the distractor)
distractor_model
(fail to distinguish the distractor)
2. Imagination in IAG on one trajectory using implicit actions inferred from another
2. Imagination in IAG on one trajectory using implicit actions inferred from another
(Updated Figure 4)
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