具身场景重排规划
Original title: Embodied Scene Rearrangement Planning
IndustryAI 72
Source: arXiv cs.ROPublish time unverified
arXiv:2608.27371v1 Announce Type: new Abstract: 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.