Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
Walter Goodwin,Sagar Vaze,Ioannis Havoutis,Ingmar Posner,Walter Goodwin,Sagar Vaze,Ioannis Havoutis,Ingmar Posner
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene configuration are a promising and increasingly used mode of instruction. A key outstanding challenge is the accurate inference of matches between objects in front of ...
