{"id":"https://openalex.org/W4399356595","doi":"https://doi.org/10.48550/arxiv.2406.00451","title":"Task Planning for Object Rearrangement in Multi-room Environments","display_name":"Task Planning for Object Rearrangement in Multi-room Environments","publication_year":2024,"publication_date":"2024-06-01","ids":{"openalex":"https://openalex.org/W4399356595","doi":"https://doi.org/10.48550/arxiv.2406.00451"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2406.00451","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.00451","pdf_url":"https://arxiv.org/pdf/2406.00451","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.00451","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042934272","display_name":"Karan Mirakhor","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mirakhor, Karan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023260904","display_name":"Sourav Ghosh","orcid":"https://orcid.org/0000-0001-5990-8708"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ghosh, Sourav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021055773","display_name":"Dipanjan Das","orcid":"https://orcid.org/0000-0003-2325-0646"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Das, Dipanjan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080835883","display_name":"Brojeshwar Bhowmick","orcid":"https://orcid.org/0000-0001-9291-5889"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bhowmick, Brojeshwar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13664","display_name":"Genome Rearrangement Algorithms","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T13664","display_name":"Genome Rearrangement Algorithms","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.744606614112854},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6082471013069153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4511678218841553},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.386660099029541},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3246459364891052},{"id":"https://openalex.org/keywords/process-management","display_name":"Process management","score":0.32262957096099854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2241269052028656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15569552779197693},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13055959343910217}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.744606614112854},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6082471013069153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4511678218841553},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.386660099029541},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3246459364891052},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.32262957096099854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2241269052028656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15569552779197693},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13055959343910217}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2406.00451","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.00451","pdf_url":"https://arxiv.org/pdf/2406.00451","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2406.00451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2406.00451","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.00451","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.00451","pdf_url":"https://arxiv.org/pdf/2406.00451","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399356595.pdf","grobid_xml":"https://content.openalex.org/works/W4399356595.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2737719445","https://openalex.org/W4239098401","https://openalex.org/W2898210368","https://openalex.org/W2382480268","https://openalex.org/W1976518449","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W2042906257","https://openalex.org/W3196817267"],"abstract_inverted_index":{"Object":[0],"rearrangement":[1,157,189,207],"in":[2,191],"a":[3,8,45,57,65,83,96,110,129,178,192],"multi-room":[4,193,206],"setup":[5],"should":[6],"produce":[7,27],"reasonable":[9],"plan":[10,64],"that":[11,199],"reduces":[12],"the":[13,18,50,151,160,169,185,188,200,205],"agent's":[14],"overall":[15,166],"travel":[16],"and":[17,44,73,113,125,137,156,165,177],"number":[19,161],"of":[20,67,153,162,168,187],"steps.":[21],"Recent":[22],"state-of-the-art":[23],"methods":[24],"fail":[25],"to":[26,41,48,62,69,81,121,158,183],"such":[28],"plans":[29],"because":[30],"they":[31],"rely":[32],"on":[33,118],"explicit":[34],"exploration":[35],"for":[36,52,98,135,143],"discovering":[37,99],"unseen":[38,71,100,154],"objects":[39,72,76,101,155],"due":[40],"partial":[42],"observability":[43],"heuristic":[46],"planner":[47,61,149],"sequence":[49,66],"actions":[51,68],"rearrangement.":[53],"This":[54],"paper":[55,172],"proposes":[56],"novel":[58,92],"hierarchical":[59],"task":[60],"efficiently":[63],"discover":[70],"rearrange":[74],"misplaced":[75],"within":[77],"an":[78,145],"untidy":[79],"house":[80],"achieve":[82],"desired":[84],"tidy":[85],"state.":[86],"The":[87,148,171,195],"proposed":[88,201],"method":[89,97,116,202],"introduces":[90],"several":[91],"techniques,":[93],"including":[94],"(i)":[95],"using":[102],"commonsense":[103],"knowledge":[104],"from":[105],"large":[106],"language":[107],"models,":[108],"(ii)":[109],"collision":[111],"resolution":[112],"buffer":[114],"prediction":[115],"based":[117],"Cross-Entropy":[119],"Method":[120],"handle":[122],"blocked":[123],"goal":[124],"swap":[126],"cases,":[127],"(iii)":[128],"directed":[130],"spatial":[131],"graph-based":[132],"state":[133],"space":[134],"scalability,":[136],"(iv)":[138],"deep":[139],"reinforcement":[140],"learning":[141],"(RL)":[142],"producing":[144],"efficient":[146],"planner.":[147],"interleaves":[150],"discovery":[152],"minimize":[159],"steps":[163],"taken":[164],"traversal":[167],"agent.":[170],"also":[173],"presents":[174],"new":[175],"metrics":[176],"benchmark":[179],"dataset":[180],"called":[181],"MoPOR":[182],"evaluate":[184],"effectiveness":[186],"planning":[190],"setting.":[194],"experimental":[196],"results":[197],"demonstrate":[198],"effectively":[203],"addresses":[204],"problem.":[208]},"counts_by_year":[],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
