Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects. However, due to the compounding uncertainty in long horizon video prediction and poor scalability of sampling-based planning optimizers, one significant limitation of these approaches is the ability to plan over long horizons to reach distant goals. To that end, we propose a framework for subgoal generation and planning, hierarchical visual foresight (HVF), which generates subgoal images conditioned on a goal image, and uses them for planning. The subgoal images are directly optimized to decompose the task into easy to plan segments, and as a result, we observe that the method naturally identifies semantically meaningful states as subgoals. Across three out of four simulated vision-based manipulation tasks, we find that our method achieves nearly a 200% performance improvement over planning without subgoals and model-free RL approaches. Further, our experiments illustrate that our approach extends to real, cluttered visual scenes. Project page: https://sites.google.com/stanford.edu/hvf

Purpose: To determine if deep learning networks could be trained to forecast a future 24-2 Humphrey Visual Field (HVF). Participants: All patients who obtained a HVF 24-2 at the University of Washington. Methods: All datapoints from consecutive 24-2 HVFs from 1998 to 2018 were extracted from a University of Washington database. Ten-fold cross validation with a held out test set was used to develop the three main phases of model development: model architecture selection, dataset combination selection, and time-interval model training with transfer learning, to train a deep learning artificial neural network capable of generating a point-wise visual field prediction. Results: More than 1.7 million perimetry points were extracted to the hundredth decibel from 32,443 24-2 HVFs. The best performing model with 20 million trainable parameters, CascadeNet-5, was selected. The overall MAE for the test set was 2.47 dB (95% CI: 2.45 dB to 2.48 dB). The 100 fully trained models were able to successfully predict progressive field loss in glaucomatous eyes up to 5.5 years in the future with a correlation of 0.92 between the MD of predicted and actual future HVF (p < 2.2 x 10 -16 ) and an average difference of 0.41 dB. Conclusions: Using unfiltered real-world datasets, deep learning networks show an impressive ability to not only learn spatio-temporal HVF changes but also to generate predictions for future HVFs up to 5.5 years, given only a single HVF.