Rearrangement Problem

The rearrangement problem focuses on efficiently and optimally moving objects within a scene to achieve a desired configuration, addressing challenges like object occlusion and stability constraints. Current research emphasizes developing algorithms, often based on integer linear programming, graph neural networks, or diffusion models, to plan and execute these rearrangements, particularly in multi-modal and multi-robot scenarios. This research is crucial for advancing robotics, particularly in areas like automated organization and manipulation of objects in domestic or industrial settings, and for understanding human preferences in spatial arrangement. The development of efficient and robust rearrangement algorithms has significant implications for improving the capabilities of autonomous systems.