Se (3)-equivariant relational rearrangement with neural descriptor fields
We present a framework for specifying tasks involving spatial relations between objects
using only 5-10 demonstrations and then executing such tasks given point cloud …
using only 5-10 demonstrations and then executing such tasks given point cloud …
Shelving, stacking, hanging: Relational pose diffusion for multi-modal rearrangement
We propose a system for rearranging objects in a scene to achieve a desired object-scene
placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline …
placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline …
Learning to Place Unseen Objects Stably using a Large-scale Simulation
Object placement is a fundamental task for robots, yet it remains challenging for partially
observed objects. Existing methods for object placement have limitations, such as the …
observed objects. Existing methods for object placement have limitations, such as the …