Multi-Object Manipulation via Object-Centric Neural Scattering Functions

Learned visual dynamics models have proven effective for robotic manipulation tasks. Yet, it remains unclear how best to represent scenes involving multi-object interactions. Current methods decompose a scene into discrete objects, but they struggle with precise modeling and manipulation amid challenging lighting conditions as they only encode appearance tied with specific illuminations. In this work, we propose using object-centric neural scattering functions (OSFs) as object representations in a model-predictive control framework. OSFs model per-object light transport, enabling compositional scene re-rendering under object rearrangement and varying lighting conditions. By combining this approach with inverse parameter estimation and graph-based neural dynamics models, we demonstrate improved model-predictive control performance and generalization in compositional multi-object environments, even in previously unseen scenarios and harsh lighting conditions. * indicates equal contribution. Yancheng is affiliated with Fudan University; this work was done while he was a summer intern at Stanford.