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cs.RO2026
Embodied Scene Rearrangement Planning
Canzhi Chen, Zan Wang, Siqi Zhu +3
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…
cs.AI2026
Abstraction Generation for Generalized Planning with Pretrained Large Language Models
Zhenhe Cui, Huaxiang Xia, Hangjun Shen +3
Qualitative Numerical Planning (QNP) serves as an important abstraction model for generalized planning (GP), which aims to compute general plans that solve multiple instances at on…
cs.RO2026
Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulation
Kaipeng Fang, Weiqing Liang, Yuyang Li +5
Real-robot demonstrations are prohibitively expensive, while simulation data and real-world human demonstrations are both scalable but each leaves a distinct gap: simulation suffer…