Object Rearrangement

Benchmarks archive 2025-07-28

1 leaderboard table shown for this task, 1 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

1 dataset whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Most implemented papers archive 2025-07-28

23 shown of 23 papers with code (63 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• GPT-4 Technical Report
  15 Mar 2023 11 repositories listed Syntology ran 2 of 5 samples · 3 unverified · 1 pointer-only (licence)
  We report the development of GPT-4, a large-scale, multimodal model which can accept image and text inputs and produce text outputs.
• Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces
  6 Oct 2021 3 repositories listed
  The new monotone solver is integrated with a global planner to solve non-monotone instances with high-quality solutions fast.
• SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation
  18 Feb 2025 2 repositories listed
  Spatial intelligence is a critical component of embodied AI, promoting robots to understand and interact with their environments.
• Lazy Rearrangement Planning in Confined Spaces
  19 Mar 2022 2 repositories listed
  Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other.
• Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
  28 Jan 2021 2 repositories listed
  DFSDP is extended to solve single-buffer, non-monotone instances, given a choice of an object and a buffer.
• Language as an Abstraction for Hierarchical Deep Reinforcement Learning
  18 Jun 2019 2 repositories listed Syntology ran 0 of 2 samples · 2 unverified
  We find that, using our approach, agents can learn to solve to diverse, temporally-extended tasks such as object sorting and multi-object rearrangement, including from raw pixel observations.
• PARSEC: Preference Adaptation for Robotic Object Rearrangement from Scene Context
  16 May 2025 1 repository listed
  To facilitate research addressing these challenges, we introduce PARSEC, an object rearrangement benchmark for learning user organizational preferences from observed scene context to place objects in a partially…
• ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
  9 Dec 2024 1 repository listed
  High-quality benchmarks are the foundation for embodied AI research, enabling significant advancements in long-horizon navigation, manipulation and rearrangement tasks.
• 3DGS-CD: 3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement
  6 Nov 2024 1 repository listed
  We present 3DGS-CD, the first 3D Gaussian Splatting (3DGS)-based method for detecting physical object rearrangements in 3D scenes.
• Open6DOR: Benchmarking Open-instruction 6-DoF Object Rearrangement and A VLM-based Approach
  24 Oct 2024 1 repository listed
  In this work, we propel the pioneer construction of the benchmark and approach for table-top Open-instruction 6-DoF Object Rearrangement (Open6DOR).
• CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement
  27 Jun 2024 1 repository listed Syntology ran 4 of 4 samples · 0 unverified · 4 pointer-only (licence)
  Understanding how humans cooperatively rearrange household objects is critical for VR/AR and human-robot interaction.
• Reinforcement Learning via Auxiliary Task Distillation
  24 Jun 2024 1 repository listed
  We present Reinforcement Learning via Auxiliary Task Distillation (AuxDistill), a new method that enables reinforcement learning (RL) to perform long-horizon robot control problems by distilling behaviors from auxiliary…
• Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior
  23 Feb 2024 1 repository listed
  For the outer loop, we learn a grasp policy aware of object matching and grasp capability guided by task-level rewards.
• Learning visual-based deformable object rearrangement with local graph neural networks
  16 Oct 2023 1 repository listed
  Our method reaches much higher success rates on a variety of deformable rearrangement tasks (96.
• Multi3DRefer: Grounding Text Description to Multiple 3D Objects
  11 Sep 2023 1 repository listed Syntology ran 5 of 8 samples · 3 unverified
  We introduce the task of localizing a flexible number of objects in real-world 3D scenes using natural language descriptions.
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
  12 Jul 2023 1 repository listed Syntology ran 1 of 1 samples · 0 unverified
  The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations.
• SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
  17 Nov 2022 1 repository listed Syntology ran 4 of 9 samples · 5 unverified
  This formalism is implemented in three steps: assigning a consistent local coordinate frame to the task-relevant object parts, determining the location and orientation of this coordinate frame on unseen object…
• Multi-skill Mobile Manipulation for Object Rearrangement
  6 Sep 2022 1 repository listed
  To tackle the entire task, prior work chains multiple stationary manipulation skills with a point-goal navigation skill, which are learned individually on subtasks.
• Sequential Manipulation Planning on Scene Graph
  10 Jul 2022 1 repository listed
  We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning.
• ReorientBot: Learning Object Reorientation for Specific-Posed Placement
  22 Feb 2022 1 repository listed
  Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks.
• Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
  15 Nov 2021 1 repository listed
  Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning.
• Hierarchical Policy for Non-prehensile Multi-object Rearrangement with Deep Reinforcement Learning and Monte Carlo Tree Search
  18 Sep 2021 1 repository listed
  Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping.
• Object Rearrangement Using Learned Implicit Collision Functions
  21 Nov 2020 1 repository listed
  The learned model outperforms both traditional pipelines and learned ablations by 9.

Syntology lines on 6 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.