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About this paper
Ruixiao Yang, Mingxin Yu, Chuchu Fan
RIVET helps robots rearrange objects by generating perception and planning programs around a shared scene representation. It combines each object’s 6D pose with a graph of task-relevant relations, linking metric placement targets to structural constraints and move order. The authors report 50/60 (83.3%) successful physical trials across three task domains, with each system frozen and reused within its domain.
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