Nov 21, 2020 · The learned model outperforms both traditional pipelines and learned ablations by 9.8% in accuracy on a dataset of simulated collision queries ...

This repo contains the code for "Object Rearrangement Using Learned Implicit Collision Functions", an ICRA 2021 paper.

Jun 4, 2021 · We leverage the learned collision model as part of a model predictive path integral (MPPI) policy in a tabletop rearrangement task and show that ...

May 30, 2021 · The learned model outperforms both traditional pipelines and learned ablations by 9.8% in accuracy on a dataset of simulated collision queries ...

We propose a learned collision model that accepts scene and query object point clouds and predicts collisions for 6DOF object poses within the scene.

... One simple idea to implement an NN-based collision detector is to adapt SceneCollisionNet [6] that predicts a collision between an object and the scene.

Duration: 11:29
Posted: Jun 1, 2021

Object Rearrangement Using Learned Implicit Collision Functions. Michael Danielczuk*, Arsalan Mousavian, Clemens Eppner, Dieter Fox. June, 2021.

Duration: 2:48
Posted: Mar 29, 2021

@article{danielczuk2021object, title={Object Rearrangement Using Learned Implicit Collision Functions}, author={Danielczuk, Michael and Mousavian, Arsalan ...