MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments

Abstract-- In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placement sequences that minimize both re-planning per object and robot travel distance while preserving critical dependency structures with a lazy evaluation method. T o address highly cluttered, non-monotone scenarios, we propose a Selective Guided Forward Search (SGFS) that efficiently relocates only critical obstacles and to feasible relocation points. Furthermore, we adopt a refinement method for adaptive subgoal selection to eliminate unnecessary pick-and-place actions, thereby improving overall solution quality. Extensive evaluations on nine benchmark rearrangement tasks demonstrate that MO-SeGMan generates feasible motion plans in all cases, consistently achieving faster solution times and superior solution quality compared to the baselines. These results highlight the robustness and scalability of the proposed framework for complex rearrangement planning problems. Supplementary videos and code are available at: https: //sites.google.com/view/mo-segman/. Rearrangement planning involves generating a feasible motion plan for a robot to move all goal objects to their designated locations.