Tidiness Score-Guided Monte Carlo Tree Search for Visual Tabletop Rearrangement

In this letter, we present the tidiness score-guided Monte Carlo tree search (TSMCTS), a novel framework designed to address the tabletop tidying up problem using only an RGB-D camera. We address two major problems for tabletop tidying up problem: (1) the lack of public datasets and benchmarks, and...

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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 10; no. 10; pp. 10090 - 10097
Main Authors: Kee, Hogun, Oh, Wooseok, Kang, Minjae, Ahn, Hyemin, Oh, Songhwai
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.10.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Bathrooms
Configurations
data sets for robot learning
Datasets
deep learning methods
Discriminators
Feature extraction
Government
Manipulation planning
Monte Carlo methods
Monte Carlo simulation
Planning
Robot learning
Search problems
Searching
Semantics
Training
Trajectory
Visualization
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary:In this letter, we present the tidiness score-guided Monte Carlo tree search (TSMCTS), a novel framework designed to address the tabletop tidying up problem using only an RGB-D camera. We address two major problems for tabletop tidying up problem: (1) the lack of public datasets and benchmarks, and (2) the difficulty of specifying the goal configuration of unseen objects. We address the former by presenting the tabletop tidying up (TTU) dataset, a structured dataset collected in simulation. Using this dataset, we train a vision-based discriminator capable of predicting the tidiness score. This discriminator can consistently evaluate the degree of tidiness across unseen configurations, including real-world scenes. Addressing the second problem, we employ Monte Carlo tree search (MCTS) to find tidying trajectories without specifying explicit goals. Instead of providing specific goals, we demonstrate that our MCTS-based planner can find diverse tidied configurations using the tidiness score as a guidance. Consequently, we propose TSMCTS, which integrates a tidiness discriminator with an MCTS-based tidying planner to find optimal tidied arrangements. TSMCTS has successfully demonstrated its capability across various environments, including coffee tables, dining tables, office desks, and bathrooms.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3597822