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 …

Humans universally dislike the task of cleaning up a messy room. If machines were to help
us with this task, they must understand human criteria for regular arrangements, such as …

Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …

To solve multi-step manipulation tasks in the real world, an autonomous robot must take
actions to observe its environment and react to unexpected observations. This may require …

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 …

Object rearrangement is pivotal in robotic-environment interactions, representing a
significant capability in embodied AI. In this paper, we present SG-Bot, a novel …

We address the problem of visually guided rearrangement planning with many movable
objects, ie, finding a sequence of actions to move a set of objects from an initial arrangement …

Planning motions to grasp an object in cluttered and uncertain environments is a
challenging task, particularly when a collision-free trajectory does not exist and objects …

Nonprehensile rearrangement is the problem of controlling a robot to interact with objects
through pushing actions in order to reconfigure the objects into a predefined goal pose. In …

In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push
many densely packed objects belonging to different classes into a configuration where these …