OPENTECHNICAL PUBLICATION
OT-2026-000000856

Method and system for task planning for visual room rearrangement under partial observability

Published: 2026-09-15T19:03:30.140947Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000856
Categories: Sensors, Controls & Machine Vision > Industrial Control

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ABSTRACT

A method and system for task planning for visual room rearrangement under
partial observability is disclosed. The system or the robotic agent utilizes a
visual input to efficiently plan a sequence of actions for simultaneous object
search and rearrangement in an untidy room, to achieve a desired tidy state.
Unlike search networks in the art that follow ad hoc approach, the method
discloses a search network utilizing commonsense knowledge from large language
models to find unseen objects. A Deep RL network used for task planning is
trained with proxy reward, along with unique graph-based state representation
to produce a scalable and effective planner that interleaves object search and
rearrangement to minimize the number of steps taken and overall traversal of
the agent, and to resolve blocked goal and swap cases. Sample efficient
cluster-biased sampling is utilized for simultaneous training of the proxy
reward network along with the Deep RL network.

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OpenTechnical publication OT-2026-000000856
Published 2026-09-15T19:03:30.140947Z
https://opentechnical.org/p/OT-2026-000000856