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Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Adversarial object rearrangement in the real world (e.g., previously unseen or oversized items in kitchens and stores) could benefit from understanding task scenes, which inherently entail heterogeneous components such as current objects,…

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

In this work, we consider one-shot imitation learning for object rearrangement tasks, where an AI agent needs to watch a single expert demonstration and learn to perform the same task in different environments. To achieve a strong…

Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…

Many relevant tasks require an agent to reach a certain state, or to manipulate objects into a desired configuration. For example, we might want a robot to align and assemble a gear onto an axle or insert and turn a key in a lock. These…

The packing problem, also known as cutting or nesting, has diverse applications in logistics, manufacturing, layout design, and atlas generation. It involves arranging irregularly shaped pieces to minimize waste while avoiding overlap.…

Goal-oriented reinforcement learning has recently been a practical framework for robotic manipulation tasks, in which an agent is required to reach a certain goal defined by a function on the state space. However, the sparsity of such…

We describe a framework for research and evaluation in Embodied AI. Our proposal is based on a canonical task: Rearrangement. A standard task can focus the development of new techniques and serve as a source of trained models that can be…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…