Co-Scale Cross-Attentional Transformer for Object Rearrangement Task

Abstract

In this paper, we propose Co-Scale Cross-Attentional Transformer for Rearrangement Target Detection, where the model generates a change mask for objects that should be rearranged. We intorduce the Serial Encoder which consists of CoaT serial blocks and the Cross-Attentional Encoder which models the relationship between the goal and current states. We validated our method on the new dataset, and the results demonstrated that our method outperformed a baseline method on mean IoU and F₁-score.