Object Rearrangement
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Benchmarks
Open6DOR V2
Most implemented
GPT-4 Technical Report
Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
Lazy Rearrangement Planning in Confined Spaces
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Language as an Abstraction for Hierarchical Deep Reinforcement Learning
Papers
CubifyGS: Object-Centric 3D Gaussian Splatting for Lifelong Dynamic Scene Maintenance
Lifelong scene mapping under rigid object rearrangement remains a fundamental challenge in robotics. While 3D Gaussian Splatting (3DGS) enables high-fidelity modeling, primitive-level updates often cause persistent ghost…
Object RearrangementAbstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance
Robotic assistance in household environments requires not only predicting where objects should be placed, but also reasoning about when objects should not be placed at all. Existing approaches to personalized object rear…
Object RearrangementIGV-RRT: Prior-Real-Time Observation Fusion for Active Object Search in Changing Environments
Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning…
Object RearrangementDecision MakingEgoPush: Learning End-to-End Egocentric Multi-Object Rearrangement for Mobile Robots
Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object non-prehensile rearran…
Object RearrangementPush-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement
Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra mo…
Object RearrangementALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challenging due to the need to interact with d…
Hierarchical Reinforcement LearningObject RearrangementMotion Planning