Abstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance (opens in new tab)

Robotic assistance in household environments requires not only predicting where objects should be placed, but also reasoning about when objects should not be placed at all. Existing approaches to personalized object rearrangement primarily focus on placement decisions under the assumption of clean observations and complete actionability, limiting their applicability in realistic, cluttered, and partially erroneous settings. In this paper, we int...