# Personalized Robotic Object Rearrangement from Scene Context Source: [Personalized Robotic Object Rearrangement from Scene Context]() Collection index: [llms.txt]() Data updated: 2025-10-26T05:03:44.730Z Authors: Kartik Ramachandruni, Sonia Chernova Published: 2025-05-16T10:40:44.000Z ## Abstract Object rearrangement is a key task for household robots requiring personalization without explicit instructions, meaningful object placement in environments occupied with objects, and generalization to unseen objects and new environments. To facilitate research addressing these challenges, we introduce PARSEC, an object rearrangement benchmark for learning user organizational preferences from observed scene context to place objects in a partially arranged environment. PARSEC is built upon a novel dataset of 110K rearrangement examples crowdsourced from 72 users, featuring 93 object categories and 15 environments. To better align with real-world organizational habits, we propose ContextSortLM, an LLM-based personalized rearrangement model that handles flexible user preferences by explicitly accounting for objects with multiple valid placement locations when placing items in partially arranged environments. We evaluate ContextSortLM and existing personalized rearrangement approaches on the PARSEC benchmark and complement these findings with a crowdsourced evaluation of 108 online raters ranking model predictions based on alignment with user preferences. Our results indicate that personalized rearrangement models leveraging multiple scene context sources perform better than models relying on a single context source. Moreover, ContextSortLM outperforms other models in placing objects to replicate the target user's arrangement and ranks among the top two in all three environment categories, as rated by online evaluators. Importantly, our evaluation highlights challenges associated with modeling environment semantics across different environment categories and provides recommendations for future work. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. - [Object Placement on PARSEC novel environment categories](): Object Placement; PARSEC novel environment categories; U-1D Success Rate: 54. ## Original sources and implementation [Original paper]() [PDF]()