mlsanityData to 7 Oct 2026

Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation

arXiv 2003.08974 ↗First posted 19 Mar 2020cs.RO cs.LGcited by 25

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Abstract (arXiv)

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images. We define and implement a Latent Space Roadmap (LSR) which is a graph-based structure that globally captures the latent system dynamics. Our framework consists of two main components: a Visual Foresight Module (VFM) that generates a visual plan as a sequence of images, and an Action Proposal Network (APN) that predicts the actions between them. We show the effectiveness of the method on a simulated box stacking task as well as a T-shirt folding task performed with a real robot.

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 7; 2023: 1; 2024: 2; 2025: 4; 2026: 4.

25 papers.

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  1. 2021FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policycited by 54
  2. 2022ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulationcited by 24
  3. 2021VisuoSpatial Foresight for Physical Sequential Fabric Manipulationcited by 18
  4. 2022EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamicscited by 10
  5. 2021GeomCA: Geometric Evaluation of Data Representationscited by 9
  6. 2021LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Taskscited by 9
  7. 2024ActionDiffusion: An Action-aware Diffusion Model for Procedure Planning in Instructional Videoscited by 8
  8. 2021OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulationcited by 7
  9. 2022Delaunay Component Analysis for Evaluation of Data Representationscited by 6
  10. 2023Neural Constraint Satisfaction: Hierarchical Abstraction for Combinatorial Generalization in Object Rearrangementcited by 6
  11. 2024General-purpose Clothes Manipulation with Semantic Keypointscited by 5
  12. 2021Enabling Visual Action Planning for Object Manipulation through Latent Space Roadmapcited by 4
13 more
  1. 2022Learning Sequential Latent Variable Models from Multimodal Time Series Datacited by 4
  2. 2026Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulationcited by 3
  3. 2022Semantic State Estimation in Cloth Manipulation Taskscited by 2
  4. 2025Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulationscited by 2
  5. 2021Comparing Reconstruction- and Contrastive-based Models for Visual Task Planningcited by 1
  6. 2022Training and Evaluation of Deep Policies using Reinforcement Learning and Generative Modelscited by 1
  7. 2025Learning a General Model: Folding Clothing with Topological Dynamicscited by 1
  8. 2025Understanding Physical Properties of Unseen Deformable Objects by Leveraging Large Language Models and Robot Actionscited by 1
  9. 2025CLASP: General-Purpose Clothes Manipulation with Semantic Keypointscited by 1
  10. 2026Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulationcited by 1
  11. 2022The dGLI Cloth Coordinates: A Topological Representation for Semantic Classification of Cloth Statescited by 0
  12. 2026V-MORALS: Visual Morse Graph-Aided Estimation of Regions of Attraction in a Learned Latent Spacecited by 0
  13. 2026V2P-Manip: Learning Dexterous Manipulation from Monocular Human Videoscited by 0