Object Rearrangement Using Learned Implicit Collision Functions
Michael Danielczuk Arsalan Mousavian Clemens Eppner Dieter Fox Michael Danielczuk Arsalan Mousavian Clemens Eppner Dieter Fox
Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making generation of collision-free grasping or placement trajectories challenging. We propose a learned collision model that accepts scene and query object point clouds an...