The data generation process includes situation sampling, long-form text generation, query generation for the long-form text, and QA generation. It is based on human observations of changes, object attributes, and allocentric object relationships in 3DSSG [9], as well as egocentric relationships between the human and the objects. A.1 Situation Sampling We follow the situation categories of MSQA [4], namely sitting, interacting, and standing, but with more detailed geometric analysis: Sitting. The 28seat categories in 3RScan [8] are grouped into four types: 3large seats with backrests (e.g., sofa), 16 small seats with backrests (e.g., armchair), 1 large seat without a backrest (bed), and 8small seats without backrests (e.g., beanbag). Seatable and backrest areas are classified by surface normals, or by nearby walls within 0.5 m if no backrest exists. For small seats, the seating point is the bounding box center, oriented away from the backrest. For large seats, we select a point with a backrest behind and open space (0.5-1 m) in front.

Physical environments and circumstances are fundamentally dynamic, yet current 3D datasets and evaluation benchmarks tend to concentrate on either dynamic scenarios or dynamic situations in isolation, resulting in incomplete comprehension. To overcome these constraints, we introduce Situat3DChange, an extensive dataset supporting three situation-aware change understanding tasks following the perception-action model: 121K question-answer pairs, 36K change descriptions for perception tasks, and 17K rearrangement instructions for the action task. To construct this large-scale dataset, Situat3DChange leverages 11K human observations of environmental changes to establish shared mental models and shared situational awareness for human-AI collaboration. These observations, enriched with egocentric and allocentric perspectives as well as categorical and coordinate spatial relations, are integrated using an LLM to support understanding of situated changes. To address the challenge of comparing pairs of point clouds from the same scene with minor changes, we propose SCReasoner, an efficient 3DMLLM approach that enables effective point cloud comparison with minimal parameter overhead and no additional tokens required for the language decoder. Comprehensive evaluation on Situat3DChange tasks highlights both the progress and limitations of MLLMs in dynamic scene and situation understanding. Additional experiments on data scaling and cross-domain transfer demonstrate the task-agnostic effectiveness of using Situat3DChange as a training dataset for MLLMs.

Recent advancements in large language models (LLMs) have enabled significant progress in decision-making and task planning for embodied autonomous agents. However, most existing methods still struggle with complex, long-horizon tasks because they rely on a monolithic trajectory that entangles all past decisions and observations, attempting to solve the entire task in a single unified process. To address this limitation, we propose ReAcTree, a hierarchical task-planning method that decomposes a complex goal into more manageable subgoals within a dynamically constructed agent tree. Each subgoal is handled by an LLM agent node capable of reasoning, acting, and further expanding the tree, while control flow nodes coordinate the execution strategies of agent nodes. In addition, we integrate two complementary memory systems: each agent node retrieves goal-specific, subgoal-level examples from episodic memory and shares environment-specific observations through working memory. Experiments on the WAH-NL and ALFRED datasets demonstrate that ReAcTree consistently outperforms strong task-planning baselines such as ReAct across diverse LLMs. Notably, on WAH-NL, ReAcTree achieves a 61% goal success rate with Qwen 2.5 72B, nearly doubling ReAct's 31%.

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Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective multi-robot BT planning algorithms remains challenging due to the complexity of coordinating diverse action spaces. We propose the Multi-Robot Behavior Tree Planning (MRBTP) algorithm, with theoretical guarantees of both soundness and completeness. MRBTP features cross-tree expansion to coordinate heterogeneous actions across different BTs to achieve the team's goal. For homogeneous actions, we retain backup structures among BTs to ensure robustness and prevent redundant execution through intention sharing. While MRBTP is capable of generating BTs for both homogeneous and heterogeneous robot teams, its efficiency can be further improved. We then propose an optional plugin for MRBTP when Large Language Models (LLMs) are available to reason goal-related actions for each robot. These relevant actions can be pre-planned to form long-horizon subtrees, significantly enhancing the planning speed and collaboration efficiency of MRBTP. We evaluate our algorithm in warehouse management and everyday service scenarios. Results demonstrate MRBTP's robustness and execution efficiency under varying settings, as well as the ability of the pre-trained LLM to generate effective task-specific subtrees for MRBTP.

Interior design involves the careful selection and arrangement of objects to create an aesthetically pleasing, functional, and harmonized space that aligns with the client's design brief. This task is particularly challenging, as a successful design must not only incorporate all the necessary objects in a cohesive style, but also ensure they are arranged in a way that maximizes accessibility, while adhering to a variety of affordability and usage considerations. Data-driven solutions have been proposed, but these are typically room- or domain-specific and lack explainability in their design design considerations used in producing the final layout. In this paper, we investigate if large language models (LLMs) can be directly utilized for interior design. While we find that LLMs are not yet capable of generating complete layouts, they can be effectively leveraged in a structured manner, inspired by the workflow of interior designers. By systematically probing LLMs, we can reliably generate a list of objects along with relevant constraints that guide their placement. We translate this information into a design layout graph, which is then solved using an off-the-shelf constrained optimization setup to generate the final layouts. We benchmark our algorithm in various design configurations against existing LLM-based methods and human designs, and evaluate the results using a variety of quantitative and qualitative metrics along with user studies. In summary, we demonstrate that LLMs, when used in a structured manner, can effectively generate diverse high-quality layouts, making them a viable solution for creating large-scale virtual scenes. Project webpage at https://flairgpt.github.io/

"Sure, I can do that. I will first use remove function to remove the side tables and "I want to remove the side EditRoom is a unified language-guided 3D scene layout editing framework that can automatically execute all layout editing types with natural language commands, which includes the command parameterizer for natural language comprehension and the scene editor for editing execution. Given a source scene and natural language commands, it can generate a coherent and appropriate target scene. Given the steep learning curve of professional 3D software and the timeconsuming process of managing large 3D assets, language-guided 3D scene editing has significant potential in fields such as virtual reality, augmented reality, and gaming. However, recent approaches to language-guided 3D scene editing either require manual interventions or focus only on appearance modifications without supporting comprehensive scene layout changes. In response, we propose Edit-Room, a unified framework capable of executing a variety of layout edits through natural language commands, without requiring manual intervention. Specifically, EditRoom leverages Large Language Models (LLMs) for command planning and generates target scenes using a diffusion-based method, enabling six types of edits: rotate, translate, scale, replace, add, and remove. To address the lack of data for language-guided 3D scene editing, we have developed an automatic pipeline to augment existing 3D scene synthesis datasets and introduced EditRoom-DB, a large-scale dataset with 83k editing pairs, for training and evaluation. Our experiments demonstrate that our approach consistently outperforms other baselines across all metrics, indicating higher accuracy and coherence in language-guided scene layout editing. Traditionally, editing 3D scenes requires manual intervention through specialized software like Blender (Community, 2024), which demands substantial expertise and considerable time for resource management. As a result, language-guided 3D scene editing has emerged as a promising technology for next-generation 3D software. To build an automated system capable of interpreting natural language and manipulating scenes, the system must be able to align complex, diverse, and often ambiguous language commands with various editing actions while also comprehending the global spatial structure of the scene. Additionally, the relatively small size of available 3D scene datasets presents a challenge for developing large-scale pretrained models necessary for fully automated, end-to-end language-guided scene editing.

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language Models (LLMs) to generate actions iteratively has become a prevalent paradigm due to its superior performance and user-friendliness. However, this paradigm is plagued by two inefficiencies: high token consumption and redundant error correction, both of which hinder its scalability for large-scale testing and applications. To address these issues, we propose Tree-Planner, which reframes task planning with LLMs into three distinct phases: plan sampling, action tree construction, and grounded deciding. Tree-Planner starts by using an LLM to sample a set of potential plans before execution, followed by the aggregation of them to form an action tree. Finally, the LLM performs a top-down decision-making process on the tree, taking into account real-time environmental information. Experiments show that Tree-Planner achieves state-of-the-art performance while maintaining high efficiency. By decomposing LLM queries into a single plan-sampling call and multiple grounded-deciding calls, a considerable part of the prompt are less likely to be repeatedly consumed. As a result, token consumption is reduced by 92.2% compared to the previously best-performing model. Additionally, by enabling backtracking on the action tree as needed, the correction process becomes more flexible, leading to a 40.5% decrease in error corrections. Project page: https://tree-planner.github.io/

You can choose from a variety of customizable clock faces to match your home's décor. Amazon's Echo Show 5 may be small, but it's loaded with many of the same features as bigger and more expensive models like the 2nd-generation Echo Show and Echo Show 8. The Echo Show 5 is great for tight spaces like desks, nightstands, and other books of the home. It comes with a front-facing camera so you can video chat with friends and family. The screen is bright and the resolution, while lower than other small smart displays, is pretty sharp given its petite size.

It's the first time Alexa, the virtual assistant powering Amazon's Echo devices, doesn't depend solely on verbal input. I can't glance at my nightstand without Alexa feeding me news headlines, recommending music videos, or encouraging me to try its other features. As such, it's possible to place a video call, audio call, or send an audio message just by asking Alexa. Amazon is positioning the Show as more than just a Skype machine by making it compatible with smart home products like baby monitors and security cameras.