Simulation Rollouts (PourWater)

All the rollouts shown on this page are from the same ToolFlowNet-trained policy for PourWater (6DoF action space). These are all test-time rollouts. We show the RGB images (left), segmented point cloud inputs (middle) and the tool points with predicted flow vectors in red (right), where the red flow vectors are enlarged for visual clarity.

The following rollouts are a success since they got enough of the water (75% of the particles) into the target container.

The following rollouts are failures since they failed to get enough of the water in the target, though the first video shows a borderline case.