CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithyavairavan Murali,Arsalan Mousavian,Clemens Eppner,Adam Fishman,Dieter Fox,Adithyavairavan Murali,Arsalan Mousavian,Clemens Eppner,Adam Fishman,Dieter Fox
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 magnitude more than prior work-in diverse everyday environments, such as cabinets and shelves. We render synthetic partial point clouds from this data and use it to train our CabiNet model architecture. CabiNet is a collision m...
