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cs.RO2023★ 2 cited
M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place
Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian +1
With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic m…
cs.RO2023
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner +2
We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magni…