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Bounce and Learn: Modeling Scene Dynamics with Real-World Bounces

Senthil Purushwalkam, Abhinav Gupta, Danny Kaufman and Bryan Russell
Conference Paper, Proceedings of Seventh International Conference on Learning Representations (ICLR 2019), May, 2019


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Abstract

We introduce an approach to model surface properties governing bounces in everyday scenes. Our model learns end-to-end, starting from sensor inputs, to predict post-bounce trajectories and infer two underlying physical properties that govern bouncing – restitution and effective collision normals. Our model, Bounce and Learn, comprises two modules — a Physics Inference Module (PIM) and a Visual Inference Module (VIM). VIM learns to infer physical parameters for locations in a scene given a single still image, while PIM learns to model physical interactions for the prediction task given physical parameters and observed pre-collision 3D trajectories. To achieve our results, we introduce the Bounce Dataset comprising 5K RGB-D videos of bouncing trajectories of a foam ball to probe surfaces of varying shapes and materials in everyday scenes including homes and offices. Our proposed model learns from our collected dataset of real-world bounces and is bootstrapped with additional information from simple physics simulations. We show on our newly collected dataset that our model out-performs baselines, including trajectory fitting with Newtonian physics, in predicting post-bounce trajectories and inferring physical properties of a scene.


@conference{Purushwalkam-2019-113268,
author = {Senthil Purushwalkam and Abhinav Gupta and Danny Kaufman and Bryan Russell},
title = {Bounce and Learn: Modeling Scene Dynamics with Real-World Bounces},
booktitle = {Proceedings of Seventh International Conference on Learning Representations (ICLR 2019)},
year = {2019},
month = {May},
} 2019-05-24T13:54:06-04:00