{"id":"https://openalex.org/W3097484130","doi":"https://doi.org/10.48550/arxiv.2011.01975","title":"Rearrangement: A Challenge for Embodied AI","display_name":"Rearrangement: A Challenge for Embodied AI","publication_year":2020,"publication_date":"2020-11-03","ids":{"openalex":"https://openalex.org/W3097484130","doi":"https://doi.org/10.48550/arxiv.2011.01975","mag":"3097484130"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2011.01975","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.01975","pdf_url":"https://arxiv.org/pdf/2011.01975","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,"listed_in":[],"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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.01975","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014035752","display_name":"Dhruv Batra","orcid":"https://orcid.org/0000-0002-1358-0011","observed_orcids":["https://orcid.org/0000-0002-1358-0011"]},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Batra, Dhruv","raw_affiliation_strings":["Georgia Tech"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chang, Angel X.","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Angel X.","raw_affiliation_strings":["University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033265891","display_name":"Sonia Chernova","orcid":"https://orcid.org/0000-0001-6320-0825","observed_orcids":["https://orcid.org/0000-0001-6320-0825"]},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chernova, Sonia","raw_affiliation_strings":["Georgia Tech Facebook AI Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech Facebook AI Research","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4210114444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108137333","display_name":"Andrew J. Davison","orcid":"https://orcid.org/0000-0002-3784-099X","observed_orcids":["https://orcid.org/0000-0002-3784-099X"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Davison, Andrew J.","raw_affiliation_strings":["Imperial College London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101542158","display_name":"Jia Deng","orcid":"https://orcid.org/0000-0001-9594-4554","observed_orcids":["https://orcid.org/0000-0001-9594-4554"]},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deng, Jia","raw_affiliation_strings":["Princeton University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006181255","display_name":"Vladlen Koltun","orcid":"https://orcid.org/0000-0003-0858-0970","observed_orcids":["https://orcid.org/0000-0003-0858-0970"]},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koltun, Vladlen","raw_affiliation_strings":["Intel Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743","observed_orcids":["https://orcid.org/0000-0001-6764-2743"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Levine, Sergey","raw_affiliation_strings":["UC Berkeley Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley Google","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594573","display_name":"Jitendra Malik","orcid":"https://orcid.org/0000-0003-3695-1580","observed_orcids":["https://orcid.org/0000-0003-3695-1580"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Malik, Jitendra","raw_affiliation_strings":["UC Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014193325","display_name":"Igor Mordatch","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mordatch, Igor","raw_affiliation_strings":["Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070375939","display_name":"Roozbeh Mottaghi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210156221","display_name":"Allen Institute for Artificial Intelligence","ror":"https://ror.org/05w520734","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210156221"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mottaghi, Roozbeh","raw_affiliation_strings":["Allen Institute for AI University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Allen Institute for AI University of Washington","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I4210156221"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091765070","display_name":"Manolis Savva","orcid":"https://orcid.org/0000-0001-6132-8964","observed_orcids":["https://orcid.org/0000-0001-6132-8964"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Savva, Manolis","raw_affiliation_strings":["University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100627109","display_name":"Hao Su","orcid":"https://orcid.org/0000-0002-1796-2682","observed_orcids":["https://orcid.org/0000-0002-1796-2682","https://orcid.org/0009-0004-7679-7842"]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Su, Hao","raw_affiliation_strings":["UC San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC San Diego","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":205,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.6660000085830688,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6660000085830688,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3073999881744385,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.009100000374019146,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-ai","display_name":"embodied AI","score":0.972000002861023},{"id":"https://openalex.org/keywords/physical-manipulation","display_name":"physical manipulation","score":0.6039999723434448},{"id":"https://openalex.org/keywords/benchmarking","display_name":"benchmarking","score":0.5709999799728394},{"id":"https://openalex.org/keywords/simulation-environment","display_name":"simulation environment","score":0.6819999814033508},{"id":"https://openalex.org/keywords/task-transfer","display_name":"task transfer","score":0.3100000023841858},{"id":"https://openalex.org/keywords/testbed","display_name":"testbed","score":0.5170000195503235}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7564895153045654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.743867814540863},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7320850491523743},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6882826089859009},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.6327341198921204},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5856267809867859},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5029832720756531},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.5029751658439636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4921781122684479},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4900025427341461},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4497503936290741},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.21226215362548828},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1630682647228241},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1457412838935852},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11993101239204407},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2011.01975","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.01975","pdf_url":"https://arxiv.org/pdf/2011.01975","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,"listed_in":[],"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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2011.01975","doi":"https://doi.org/10.48550/arxiv.2011.01975","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.01975","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,"listed_in":[],"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":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.01975","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.01975","pdf_url":"https://arxiv.org/pdf/2011.01975","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,"listed_in":[],"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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3097484130.pdf","grobid_xml":"https://content.openalex.org/works/W3097484130.grobid-xml"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W196214544","https://openalex.org/W639708223","https://openalex.org/W1505952289","https://openalex.org/W1524405667","https://openalex.org/W1564897360","https://openalex.org/W1979266466","https://openalex.org/W1987411046","https://openalex.org/W1989604857","https://openalex.org/W1995903777","https://openalex.org/W2003330902","https://openalex.org/W2007924815","https://openalex.org/W2015241127","https://openalex.org/W2029143333","https://openalex.org/W2037227137","https://openalex.org/W2101008389","https://openalex.org/W2101901809","https://openalex.org/W2104641222","https://openalex.org/W2109447584","https://openalex.org/W2112742338","https://openalex.org/W2117539524","https://openalex.org/W2130942839","https://openalex.org/W2135639338","https://openalex.org/W2150468603","https://openalex.org/W2151607042","https://openalex.org/W2159064451","https://openalex.org/W2159499124","https://openalex.org/W2167932310","https://openalex.org/W2169364846","https://openalex.org/W2194775991","https://openalex.org/W2337392266","https://openalex.org/W2415216611","https://openalex.org/W2420742708","https://openalex.org/W2432137114","https://openalex.org/W2479648088","https://openalex.org/W2557007068","https://openalex.org/W2603737562","https://openalex.org/W2608020507","https://openalex.org/W2611243847","https://openalex.org/W2626778328","https://openalex.org/W2736647539","https://openalex.org/W2772390515","https://openalex.org/W2775635818","https://openalex.org/W2776202271","https://openalex.org/W2785527097","https://openalex.org/W2789839425","https://openalex.org/W2794549886","https://openalex.org/W2806070179","https://openalex.org/W2884565639","https://openalex.org/W2899059606","https://openalex.org/W2929928372","https://openalex.org/W2950813464","https://openalex.org/W2953127211","https://openalex.org/W2963341956","https://openalex.org/W2964308564","https://openalex.org/W2980400095","https://openalex.org/W2981344907","https://openalex.org/W2988916019","https://openalex.org/W3007769740","https://openalex.org/W3016525976","https://openalex.org/W3020712669","https://openalex.org/W3027134676","https://openalex.org/W3030163527","https://openalex.org/W3035624836","https://openalex.org/W3035662013","https://openalex.org/W3036497058","https://openalex.org/W3037207827","https://openalex.org/W3042040243","https://openalex.org/W3047905600","https://openalex.org/W3090293438"],"related_works":["https://openalex.org/W3151372782","https://openalex.org/W7084152949","https://openalex.org/W7204457475","https://openalex.org/W4392945205","https://openalex.org/W4414463417","https://openalex.org/W4405625963","https://openalex.org/W4401246959","https://openalex.org/W3171295350","https://openalex.org/W4353112991","https://openalex.org/W4383109113"],"abstract_inverted_index":{"We":[0,90,121],"describe":[1,98],"a":[2,16,33,54,59,74],"framework":[3],"for":[4,100],"research":[5,106],"and":[6,30,97,107,129,142],"evaluation":[7],"in":[8,76,86,116],"Embodied":[9],"AI.":[10],"Our":[11],"proposal":[12],"is":[13,51],"based":[14],"on":[15,145],"canonical":[17],"task:":[18],"Rearrangement.":[19],"A":[20],"standard":[21],"task":[22],"can":[23,39,65],"focus":[24],"the":[25,46,49,81,84,87],"development":[26],"of":[27,35,113,139],"new":[28,130],"techniques":[29],"serve":[31],"as":[32],"source":[34],"trained":[36],"models":[37],"that":[38,123],"be":[40,66,127,134],"transferred":[41],"to":[42,52,136],"other":[43,124],"settings.":[44],"In":[45],"rearrangement":[47,92,102,114,140],"task,":[48],"goal":[50,63,88],"bring":[53],"given":[55],"physical":[56,146],"environment":[57,85],"into":[58],"specified":[60,67],"state.":[61,89],"The":[62],"state":[64],"by":[68,71,73,79],"object":[69],"poses,":[70],"images,":[72],"description":[75],"language,":[77],"or":[78],"letting":[80],"agent":[82],"experience":[83],"characterize":[91],"scenarios":[93,115],"along":[94],"different":[95,118],"axes":[96],"metrics":[99],"benchmarking":[101],"performance.":[103],"To":[104],"facilitate":[105],"exploration,":[108],"we":[109],"present":[110],"experimental":[111],"testbeds":[112],"four":[117],"simulation":[119,131],"environments.":[120],"anticipate":[122],"datasets":[125],"will":[126,133],"released":[128],"platforms":[132],"built":[135],"support":[137],"training":[138],"agents":[141],"their":[143],"deployment":[144],"systems.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":23},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":42},{"year":2023,"cited_by_count":44},{"year":2022,"cited_by_count":45},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2020-11-09T00:00:00"}
