Refuse container orientation system

The refuse vehicle of claim 12, wherein the grabber assembly comprises a first grabber arm and a second grabber arm for engaging the refuse container, and wherein the one or more container rotation elements comprises:

• a first roller coupled to the first grabber arm;
• the motor coupled to the first roller and configured to move the first roller;
• and
• wherein the motor moves the first roller to move the refuse container into a desired orientation for depositing refuse into the refuse vehicle, based on the orientation of the refuse container.

A method for orienting a refuse container, the method comprising:

• receiving sensor data indicative of an orientation of the refuse container;
• determining the orientation of the refuse container by applying a container orientation model to the sensor data;
• and
• operating a container orientation system to move the refuse container into a desired orientation.