Push-T

We present preliminary results on the Push-T task, where the agent is required to push a T-shaped block to a goal orientation (angle) specified by an image.

Two Blocks (Single Goal)

Goal

Rollout

Distribution of Angle (Radians) Difference from Goal - 1 Block

Values of 400 episodes with randomly initialized goal and initial configurations.

Success in this task demonstrates additional capabilities of our method:

1) Handling objects with more complex dynamics.

2) Inferring and accurately manipulating object properties that are not explicit in the latent representation.

Distribution of Angle (Radians) Difference from Goal - 2 Blocks

Values of 400 episodes with randomly initialized goal and initial configurations.

One Block

Goal

Rollout