具身场景重排规划
原标题：Embodied Scene Rearrangement Planning
产业动态AI 72
来源：arXiv cs.RO发布时间待核实
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.