We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may not suit the preferences of a particular customer. Moreover, such a system consists of multi-objective tasks comprising -- (i) Detection of misplaced objects and prediction of their potentially correct placements, (ii) Fine-grained manipulation for stable object grasping, and (iii) Room-to-room navigation for transferring objects in unseen environments. This work systematically tackles each component and integrates them into a complete object rearrangement pipeline. To validate our proposed system, we conduct multiple experiments on a real robotic platform involving multi-room object transfer, user preference-based placement, and complex pick-and-place tasks. Project page: https://sites.google.com/eng.ucsd.edu/home-robot
@article{arxiv.2312.06129,
title = {Household navigation and manipulation for everyday object rearrangement tasks},
author = {Shrutheesh R. Iyer and Anwesan Pal and Jiaming Hu and Akanimoh Adeleye and Aditya Aggarwal and Henrik I. Christensen},
journal= {arXiv preprint arXiv:2312.06129},
year = {2023}
}