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title
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement
description
EBM, energy based models, robotics, manipulation
site name
author
updated
2026-01-14 14:16:58
raw text
Energy-based Models Are Zero-Shot Planners for Compositional Scene Rearrangement Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement Nikolaos Gkanatsios * , Ayush Jain * , Zhou Xian , Yunchu Zhang , Christopher G. Atkeson , Katerina Fragkiadaki Carnegie Mellon University RSS 2023 * Equal Contribution description Paper code Code Abstract Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that generalizes to longer instructions and to spatial concept compositions never seen at training time. We propose to represent language-instructed spatial concepts with energy functions over relative object arrangements. A language parser maps instructions to corresponding energy functions and an open-vocabulary visual-language model grou...
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