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cs.RO2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting
Albert Wu, Ruocheng Wang, Sirui Chen +2
Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, o…
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…