{"id":"https://openalex.org/W4383066118","doi":"https://doi.org/10.1109/icra48891.2023.10161528","title":"CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation","display_name":"CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066118","doi":"https://doi.org/10.1109/icra48891.2023.10161528"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114179160","display_name":"Adithyavairavan Murali","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Adithyavairavan Murali","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021728625","display_name":"Arsalan Mousavian","orcid":"https://orcid.org/0000-0001-9356-9455"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arsalan Mousavian","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Clemens Eppner","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073162537","display_name":"Adam Fishman","orcid":"https://orcid.org/0000-0002-8807-3102"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adam Fishman","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114179160"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4984,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.89095001,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1866","last_page":"1874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8083718419075012},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7519988417625427},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7430150508880615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6283860206604004},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.594390332698822},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.582416832447052},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5202094912528992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46243393421173096},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4173760712146759}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8083718419075012},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7519988417625427},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7430150508880615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6283860206604004},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.594390332698822},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.582416832447052},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5202094912528992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46243393421173096},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4173760712146759},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":83,"referenced_works":["https://openalex.org/W1814533834","https://openalex.org/W1987648924","https://openalex.org/W1993282304","https://openalex.org/W2004139909","https://openalex.org/W2009188425","https://openalex.org/W2035950904","https://openalex.org/W2053212688","https://openalex.org/W2068127265","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2141841102","https://openalex.org/W2162559028","https://openalex.org/W2321792876","https://openalex.org/W2584986912","https://openalex.org/W2600030077","https://openalex.org/W2624503621","https://openalex.org/W2773721443","https://openalex.org/W2786036844","https://openalex.org/W2891331468","https://openalex.org/W2949830259","https://openalex.org/W2961368225","https://openalex.org/W2963121255","https://openalex.org/W2966885779","https://openalex.org/W2981344907","https://openalex.org/W2985388077","https://openalex.org/W2985936292","https://openalex.org/W2986303149","https://openalex.org/W3007769740","https://openalex.org/W3009220630","https://openalex.org/W3012008866","https://openalex.org/W3035624836","https://openalex.org/W3089355520","https://openalex.org/W3090814639","https://openalex.org/W3097484130","https://openalex.org/W3103346840","https://openalex.org/W3109585842","https://openalex.org/W3128894241","https://openalex.org/W3165582272","https://openalex.org/W3166396011","https://openalex.org/W3173991492","https://openalex.org/W3176814369","https://openalex.org/W3185327196","https://openalex.org/W3190215236","https://openalex.org/W3200832869","https://openalex.org/W3206683563","https://openalex.org/W3207187156","https://openalex.org/W3207460231","https://openalex.org/W3210940825","https://openalex.org/W3212977909","https://openalex.org/W3213974477","https://openalex.org/W4206575475","https://openalex.org/W4214625308","https://openalex.org/W4226344024","https://openalex.org/W4282981845","https://openalex.org/W4283787240","https://openalex.org/W4287112297","https://openalex.org/W4307307990","https://openalex.org/W4312614111","https://openalex.org/W4312891162","https://openalex.org/W4320013936","https://openalex.org/W4385245566","https://openalex.org/W4385430679","https://openalex.org/W4394671432","https://openalex.org/W6687484953","https://openalex.org/W6746713385","https://openalex.org/W6747827861","https://openalex.org/W6755234996","https://openalex.org/W6760069399","https://openalex.org/W6762542935","https://openalex.org/W6764040762","https://openalex.org/W6769596995","https://openalex.org/W6774631009","https://openalex.org/W6785308759","https://openalex.org/W6785990877","https://openalex.org/W6791353385","https://openalex.org/W6797065961","https://openalex.org/W6799560697","https://openalex.org/W6800004206","https://openalex.org/W6806687296","https://openalex.org/W6811345723","https://openalex.org/W6840041517","https://openalex.org/W6846375178","https://openalex.org/W6847224448"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W2115214301","https://openalex.org/W1981531423","https://openalex.org/W2070318884","https://openalex.org/W1679012645","https://openalex.org/W2011939812","https://openalex.org/W1977371217"],"abstract_inverted_index":{"We":[0,16,37,103,160],"address":[1],"the":[2,81,134,142,177],"important":[3],"problem":[4],"of":[5,23,90,189],"generalizing":[6],"robotic":[7],"rearrangement":[8,152],"to":[9,49,118,144,158,176],"clutter":[10],"without":[11],"any":[12],"explicit":[13],"object":[14,62,78],"models.":[15],"first":[17],"generate":[18,119,166],"over":[19],"650K":[20],"cluttered":[21],"scenes-orders":[22],"magnitude":[24],"more":[25],"than":[26,97],"prior":[27],"work-in":[28],"diverse":[29],"everyday":[30],"environments,":[31],"such":[32],"as":[33],"cabinets":[34],"and":[35,46,63,73,124,169,187],"shelves.":[36],"render":[38],"synthetic":[39],"partial":[40],"point":[41,65],"clouds":[42],"from":[43,68,133],"this":[44,105],"data":[45],"use":[47,104],"it":[48],"train":[50],"our":[51,163,172],"CabiNet":[52,55,128],"model":[53,59,107],"architecture.":[54],"is":[56],"a":[57,69,86,111],"collision":[58,106],"that":[60,140,171],"accepts":[61],"scene":[64],"clouds,":[66],"captured":[67],"single-view":[70],"depth":[71],"observation,":[72],"predicts":[74,130],"collisions":[75],"for":[76,122],"SE(3)":[77],"poses":[79],"in":[80,100,108,126,183,192],"scene.":[82],"Our":[83],"representation":[84],"has":[85],"fast":[87],"inference":[88],"speed":[89],"7\u03bcs/query":[91],"with":[92,110],"nearly":[93,155],"20%":[94],"higher":[95],"performance":[96,153],"baseline":[98],"approaches":[99],"challenging":[101],"environments.":[102],"conjunction":[109],"Model":[112],"Predictive":[113],"Path":[114],"Integral":[115],"(MPPI)":[116],"planner":[117],"collision-free":[120],"trajectories":[121],"picking":[123],"placing":[125],"clutter.":[127],"also":[129],"waypoints,":[131],"computed":[132],"scene's":[135],"signed":[136],"distance":[137],"field":[138],"(SDF),":[139],"allows":[141],"robot":[143,190],"navigate":[145],"tight":[146],"spaces":[147],"during":[148],"rearrangement.":[149],"This":[150],"improves":[151],"by":[154],"35%":[156],"compared":[157],"baselines.":[159],"systematically":[161],"evaluate":[162],"approach,":[164],"procedurally":[165],"simulated":[167],"experiments,":[168],"demonstrate":[170],"approach":[173],"directly":[174],"transfers":[175],"real":[178],"world,":[179],"despite":[180],"training":[181],"exclusively":[182],"simulation.":[184],"Supplementary":[185],"material":[186],"videos":[188],"experiments":[191],"completely":[193],"unknown":[194],"scenes":[195],"are":[196],"available":[197],"at:":[198],"cabinet-object-rearrangement.github.io.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
