Task Planning for Visual Room Rearrangement under Partial Observability

An instance of the Room Rearrangement task. Objects begin in the positions indicated by the solid 3D bounding boxes. An agent must walk through the room and record the objects it sees. The agent is then removed, and objects are moved to the locations indicated by the dashed bounding boxes. The agent is then reintroduced into the room and must interact with objects (moving or opening them) to return the room to its original state.