SOURCE-LINKED INTELLIGENCE
Embodied Scene Rearrangement Planning
This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using only egocentric observations and a top-down target layout. Unlike prior rearrangement tasks, ESRP precludes global state access and introduces mutual object occlusions, reflecting the practical constraints of real-world robotic deployment. These factors make aligning partial egocentric observations with the global target layout particularly challenging for long-horizon planning. To facilitate research, we present ES
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-27T17:08:40.000Z
First collected: 2026-09-21T08:32:02.028Z. This is not the publication date.