Knolling Bot: Teaching Robots the Human Notion of Tidiness

TL;DR

This paper introduces a transformer-based approach enabling domestic robots to understand and perform tidying tasks by modeling human notions of cleanliness and aesthetics, advancing robot-human collaboration in home environments.

Contribution

It presents a novel method that treats knolling as a sequential prediction problem, allowing robots to learn and adapt to subjective human tidiness preferences.

Findings

The model generalizes across diverse object sets.

It generates multiple, personalized tidying solutions.

The approach bridges the gap between AI and human aesthetic understanding.

Abstract

For robots to truly collaborate and assist humans, they must understand not only logic and instructions, but also the subtle emotions, aesthetics, and feelings that define our humanity. Human art and aesthetics are among the most elusive concepts-often difficult even for people to articulate-and without grasping these fundamentals, robots will be unable to help in many spheres of daily life. Consider the long-promised robotic butler: automating domestic chores demands more than motion planning. It requires an internal model of cleanliness and tidiness-a challenge largely unexplored by AI. To bridge this gap, we propose an approach that equips domestic robots to perform simple tidying tasks via knolling, the practice of arranging scattered items into neat, space-efficient layouts. Unlike the uniformity of industrial settings, household environments feature diverse objects and highly subjective notions of tidiness. Drawing inspiration from NLP, we treat knolling as a sequential prediction problem and employ a transformer based model to forecast each object's placement. Our method learns a generalizable concept of tidiness, generates diverse solutions adaptable to varying object sets, and incorporates human preferences for personalized arrangements. This work represents a step forward in building robots that internalize human aesthetic sense and can genuinely co-create in our living spaces.